Gecko-Inspired Dry Adhesive for Robotic Applications
Gecko-Inspired Dry Adhesive for Robotic Applications
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DOI：
10.1002/adfm.201100493
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发表时间：
2011-08-23
影响因子：
19
通讯作者：
Israelachvili, Jacob N.
中科院分区：
文献类型：
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作者：
Yu, Jing;Chary, Sathya;Israelachvili, Jacob N.
大多数壁虎可以快速地附着在几乎任何表面上，也可以从任何表面上分离。这种能力归因于他们的脚的层次结构（包括脚趾垫，刚毛阵列和抹刀），以及它们如何移动（关节连接）以产生强大的附着力和摩擦力，并在释放时迅速放松。受到壁虎生物粘附系统的启发，各种结构化表面已经被制造成适合于机器人应用。在这项研究中，x-y-z不对称，微米大小的矩形皮瓣组成的聚二甲基硅氧烷（PDMS）制造使用大规模并行微机电系统（MEMS）技术的目的是创造定向响应，高到低的摩擦粘附趾垫表现出类似于壁虎的性能。利用表面力仪（SFA），研究了垂直（对称）和倾斜（x-y-z非对称）微皮瓣在不同加载、卸载和剪切条件下的摩擦力和粘附力。发现倾斜微瓣的各向异性结构在沿沿着不同x-y-z方向铰接时产生非常不同的粘附力和摩擦力：当沿沿着倾斜（+y）方向铰接在y-z平面中时产生高摩擦力和粘附力，倾斜（+y）方向也是运动方向，而当与倾斜（-y）方向相反铰接时产生弱摩擦力和粘附力。这些结果表明，不对称的角度结构，发生在壁虎，需要使壁虎，以优化的要求，高摩擦力和粘附力的抓地力，和低摩擦力的粘附力释放。这些特性与（也是最佳的）铰接机制密切相关。我们讨论如何这两个功能可以同时优化的机器人系统的设计，可以模仿壁虎粘合剂系统。
Most geckos can rapidly attach and detach from almost any kind of surface. This ability is attributed to the hierarchical structure of their feet (involving toe pads, setal arrays, and spatulae), and how they are moved (articulated) to generate strong adhesion and friction forces on gripping that rapidly relax on releasing. Inspired by the gecko's bioadhesive system, various structured surfaces have been fabricated suitable for robotic applications. In this study, x-y-z asymmetric, micrometer-sized rectangular flaps composed of polydimethylsiloxane (PDMS) were fabricated using massively parallel micro-electromechanical systems (MEMS) techniques with the intention of creating directionally responsive, high-to-low frictional-adhesion toe pads exhibiting properties similar to those found in geckos. Using a surface forces apparatus (SFA), the friction and adhesion forces of both vertical (symmetric) and angled/tilted (x-y-z asymmetric) microflaps under various loading, unloading and shearing conditions were investigated. It was found that the anisotropic structure of tilted microflaps gives very different adhesion and tribological forces when articulated along different x-y-z directions: high friction and adhesion forces when articulated in the y-z plane along the tilt (+y) direction, which is also the direction of motion, and weak friction and adhesion forces when articulated against the tilt (-y) direction. These results demonstrate that asymmetric angled structures, as occur in geckos, are required to enable the gecko to optimize the requirements of high friction and adhesion on gripping, and low frictional-adhesion on releasing. These properties are intimately coupled to a (also optimum) articulation mechanism. We discuss how both of these features can be simultaneously optimized in the design of robotic systems that can mimic the gecko adhesive system.