A wet adhesion inspired biomimetic pad with direction dependence and adaptability  

作　　者：LI MingHe HE Bin QIN HaiYan ZHOU YanMin LU HanXiong YUE JiGuang 

机构地区：[1]Department of Control Science, TonMi University, Shanghai 201804, China

出　　处：《Chinese Science Bulletin》2011年第18期1935-1941,共7页

基　　金：supported by the National Natural Science Foundation of China (50405045,61040056);the National High-Tech Research & Development Program of China (2007AA04Z253)

摘　　要：A novel adhesive pad for a climbing robot, inspired by a stick insect's smooth pad, is proposed. The micro structure pattern and inclined fiber of a stick insect's pad are mimicked, and an adhesion force is produced based on its wet adhesion mechanism. Firstly, the wet adhesion model is discussed and the pad is designed; secondly, the adhesion characteristics, adhesion direction dependence and adaptability are analyzed; finally, the proposed pad is fabricated using a thermoplastic elastomer, which is a hydrophilic and viscoelastic material. Experimental results show that the adhesion performance of the pad is good, and normal adhesion and friction can reach to 0.65 N and 3 N. Furthermore, the adhesion of the pad is direction dependent and self-adaptive.A novel adhesive pad for a climbing robot, inspired by a stick insect＇s smooth pad, is proposed. The micro structure pattern and inclined fiber of a stick insect＇s pad are mimicked, and an adhesion force is produced based on its wet adhesion mechanism. Firstly, the wet adhesion model is discussed and the pad is designed; secondly, the adhesion characteristics, adhesion direction dependence and adaptability are analyzed; finally, the proposed pad is fabricated using a thermoplastic elastomer, which is a hydrophilic and viscoelastic material. Experimental results show that the adhesion performance of the pad is good, and normal adhesion and friction can reach to 0.65 N and 3 N. Furthermore, the adhesion of the pad is direction dependent and self-adaptive.

关 键 词：湿附着力 自适应性 依赖性 仿生 粘附模型 热塑性弹性体 爬壁机器人 附着力性能 

分 类 号：TB17[生物学—生物工程]