Highly flexible and self-adaptive dry adhesive end-effectors for precision robotics
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- Highly flexible and self-adaptive dry adhesive end-effectors for precision robotics
- Lee, Sung Ho; Hwang, Insol; Kang, Bong Su; Jeong, Hoon Eui; Kwak, Moon Kyu
- Issue Date
- ROYAL SOC CHEMISTRY
- SOFT MATTER, v.15, no.29, pp.5827 - 5834
- Many research groups have studied biomimetic functional surfaces for practical applications. Dry adhesives inspired by the gecko foot consist of hierarchical and numerous micro/nano hairs and can achieve pull-off strengths for vertical and shear adhesion of up to 20 N cm(-2). However, when detachment of the nearly dry adhesive is carried out by peeling, the pull-off strength of the dry adhesive in the tilted state is remarkably reduced. In this study, an enhanced pull-off strength dry adhesive in the tilted state was fabricated by using a strategy that reduces the restoring force from the bending moment. An experiment with various column-type dry adhesives was implemented to find the relation between the pull-off strength in the tilted state and the bending resistance of the dry adhesive. The feasibility of using a dry adhesive in the tilted state was observed through a glass-lifting experiment. This strategy could be widely utilized in many practical applications, such as robotics.
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