TY - GEN
T1 - Gecko inspired micro-fibrillar adhesives for wall climbing robots on micro/nanoscale rough surfaces
AU - Aksak, Burak
AU - Murphy, Michael P.
AU - Sitti, Metin
PY - 2008
Y1 - 2008
N2 - This paper presents the fabrication, characterization and testing of bio-inspired synthetic dry adhesive fiber arrays. Fibers were fabricated via micromolding followed by spatula tip formation via dipping. Arrays of fibers with diameters between 28 μm and 57 μm and a height of 114 μm were fabricated with high uniformity on 6.25 cm2 areas with up to 95% yield. Adaptation to uneven surfaces was observed with fiber elongations over 6 times the original height of the fiber. The unstructured sample exhibited 1.6 times as much adhesion as the fiber array sample for the flat punch indenter. However, fibrillar samples demonstrated up to 5.3 times as much adhesion as the unstructured sample for the hemispherical indenter. The fibrillar adhesive sample was implemented on a wall climbing robot which was able to carry itself and climb a distance on a painted wall and wood door.
AB - This paper presents the fabrication, characterization and testing of bio-inspired synthetic dry adhesive fiber arrays. Fibers were fabricated via micromolding followed by spatula tip formation via dipping. Arrays of fibers with diameters between 28 μm and 57 μm and a height of 114 μm were fabricated with high uniformity on 6.25 cm2 areas with up to 95% yield. Adaptation to uneven surfaces was observed with fiber elongations over 6 times the original height of the fiber. The unstructured sample exhibited 1.6 times as much adhesion as the fiber array sample for the flat punch indenter. However, fibrillar samples demonstrated up to 5.3 times as much adhesion as the unstructured sample for the hemispherical indenter. The fibrillar adhesive sample was implemented on a wall climbing robot which was able to carry itself and climb a distance on a painted wall and wood door.
UR - http://www.scopus.com/inward/record.url?scp=51649106825&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543675
DO - 10.1109/ROBOT.2008.4543675
M3 - Conference contribution
AN - SCOPUS:51649106825
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3058
EP - 3063
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -