Mini Review: Comparison of Bio-Inspired Adhesive Feet of Climbing Robots on Smooth Vertical Surfaces

Developing climbing robots for smooth vertical surfaces (e.g., glass) is one of the most challenging problems in robotics. Here, the adequate functioning of an adhesive foot is an essential factor for successful locomotion performance. Among the various technologies (such as dry adhesion, wet adhesion, magnetic adhesion, and pneumatic adhesion), bio-inspired dry adhesion has been actively studied and successfully applied to climbing robots. Thus, this review focuses on the characteristics of two different types of foot microstructures, namely spatula-shaped and mushroom-shaped, capable of generating such adhesion. These are the most used types of foot microstructures in climbing robots for smooth vertical surfaces. Moreover, this review shows that the spatula-shaped feet are particularly suitable for massive and one-directional climbing robots, whereas mushroom-shaped feet are primarily suitable for light and all-directional climbing robots. Consequently, this study can guide roboticists in selecting the right adhesive foot to achieve the best climbing ability for future robot developments.

Interface Characteristics and Anticorrosion Performances of Cold Galvanizing Coatings Incorporated with γ-chloropropyl Triethoxysilane on Hot-Dip Galvanized Steel

The cold galvanizing coatings (CGCs) are used to repair old hot-dip galvanized steel (HDG) in numerous anticorrosion engineering, but poor adhesion of the CGC restricts its large-scale applications in the industries. For the purpose of overcoming the weak adhesion problems of the CGC on HDG, γ-chloropropyl triethoxysilane (CPTES) was added directly into cold galvanizing coatings (CPTES/CGC). Interface characteristics and related corrosion protection behaviors were investigated by the pull-off adhesion test, water contact angle measurements, Fourier transform infrared spectroscopy (FTIR), X-ray photoelectron spectroscopy (XPS), scanning electron microscope (SEM), and electrochemical tests. The experimental results revealed that, there is an increase by 19.1% of the CPTES/CGC surface free energy when compared with that of CGC. In addition, Si–O–Si and Si–O–Zn bonds were found in the CPTES/CGC, which indicate new network structures formed inside the CPTES/CGC, between the interface of the CPTES/CGC and HDG substrate, resulting in dry adhesion, wet adhesion, and the cathodic protection time of CPTES/CGC increased by 50% and 200% and 300% respectively compared with the CGC.

Harnessing reversible dry adhesion using shape memory polymer microparticles

Shape memory polymers can provide excellent bonding property because of their shape memory effects. This paper proposes an adhesive unit that is capable of repeatable smart adhesion and exhibits reversible adhesion under heating.

Mechanics of Crater-Enabled Soft Dry Adhesives: A Review

Dry adhesion is governed by physical rather than chemical interactions. Those may include van der Waals and electrostatic forces, friction, and suction. Soft dry adhesives, which can be repeatedly attached to and detached from surfaces, can be useful for many exciting applications including reversible tapes, robotic footpads and grippers, and bio-integrated electronics. So far, the most studied Soft dry adhesives are gecko-inspired micro-pillar arrays, but they suffer from limited reusability and weak adhesion underwater. Recently cratered surfaces emerged as an alternative to micro-pillar arrays, as they exhibit many advantageous properties, such as tunable pressure-sensitive adhesion, high underwater adhesive strength, and good reusability. This review summarizes recent work of the authors on mechanical characterization of cratered surfaces, which combines experimental, modeling, and computational components. Using fundamental relationships describing air or liquid inside the crater, we examine the effects of material properties, crater shapes, air vs. liquid ambient environments, and surface patterns. We also identify some unresolved issues and limitations of the current approach, and provide an outlook for future research directions.

A Design Strategy for Mushroom-Shaped Microfibrils With Optimized Dry Adhesion: Experiments and Finite Element Analyses

Enhanced dry adhesion of micropatterned polymeric surfaces has been frequently demonstrated. Among the design parameters, the cap geometry plays an important role to improve their performance. In this study, we combined experiments on single polyurethane mushroom-shaped fibrils (with a stalk diameter of 80 µm and height of 125 µm) against flat glass, with numerical simulations implementing a cohesive zone. We found that the geometry of the mushroom cap strongly affects the interfacial crack behavior and the pull-off stress. The experimental and numerical results suggest that optimal adhesion was accompanied by the appearance of both edge and interior interfacial cracks during separation. Finite elemental analyses revealed the evolution of the interfacial stress distributions as a function of the cap thickness and confirmed the distinct detachment mechanisms. Furthermore, the effect of the stalk diameter and the Young's modulus on the adhesive force was established, resulting in an optimal design for mushroom-shaped fibrils.