Bionic Study Of Adhesive Material Used On Feet Of Biomimetic Gecko Robot

Current study demonstrates that gecko's special adhesion ability comes from the Van der Walls interaction between setae on the gecko foot and the contacted surface. Designing and manufacturing of biomimetic synthetic adhesives are extraordinarily important for wall-climbing robot. By now, our research institute has performed an in-depth study of gecko foot's micro-structure and dynamics, and research work of biomimetic adhesive material has been planned. Four aspects have been done in this thesis which focuses on research of biomimetic adhesive material.(1) Based on the JKR theory, mechanical ability of gecko's gradient setal array and relation between setal angle and pull off force in detachment step have been studied in theory. Mechanical ability of gradient setal array has been simulated by MATLAB. Curves of pull force and adhesion force in detachment step have been gotten. The relation between setal angle and pull off force of setal array also has been gotten.(2) Based on the JKR theory, the relation between setal matting and setae geometry has been studied. Four different synthetic adhesives were designed. Holl arrays on surface of silicon slice, which are molds of synthetic adhesives, were made by ICP technics. PDMS synthetic adhesives were manufactured by molding under vacuum and peeled off from molds by special corrosive liquid.(3) The directions for producing polyurethane/ silicon-rubber polymer which is made of PTMEG (3000) has been optimized. A series of polyurethane/ silicon-rubber samples have been manufactured. Elastic modulus and adhesion force of these polyurethane/ silicon-rubber samples have been tested. Test result shows that the sample which contains 30% polyurethane has largest adhesion force, and friction force of the sample also has been tested.(4) Structure and motion of gecko toes have been studied. Biomimetic foot of climbing-robot, which can curve outward like gecko foot, has been designed. The elastomer of biomimetic foot and molds of the elastomer have been designed by UG.