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 pr...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.展开更多
基金supported by the National Natural Science Foundation of China (50405045,61040056)the National High-Tech Research & Development Program of China (2007AA04Z253)
文摘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.
