Highly flexible and self-adaptive dry adhesive end-effectors for precision robotics

Soft Matter ◽  
2019 ◽  
Vol 15 (29) ◽  
pp. 5827-5834 ◽  
Author(s):  
Sung Ho Lee ◽  
Insol Hwang ◽  
Bong Su Kang ◽  
Hoon Eui Jeong ◽  
Moon Kyu Kwak
Keyword(s):  
Structural Design ◽  
Dry Adhesive ◽  
Dry Adhesives ◽  
Adhesion Performance ◽  
End Effectors ◽  
Self Adaptive

For wide application of dry adhesives, we have realized the improvement of adhesion performance on inclined target substrate through structural design in macroscale. The improved dry adhesives exhibit stable properties in inclined targets.

scholarly journals Optimum sizing of members of truss structures using direct design and a self-adaptive mutationdifferential evolution

2021 ◽  
Vol 63 (2) ◽  
pp. 39-44
Author(s):  
Manh-Hung Ha ◽  
◽  
Hoang-Anh Pham ◽  
Keyword(s):  
Structural Design ◽  
Computational Cost ◽  
Truss Structures ◽  
Adaptive Mutation ◽  
De Algorithm ◽  
Inelastic Analysis ◽  
Local Searches ◽  
Direct Design ◽  
Mutation Strategy ◽  
Self Adaptive

Direct design using nonlinear inelastic analysis has been recently enabled for structural design as this approach can directly predict the behaviour of a structure as a whole, which eliminates capacity checks for individual structural members. However, the use of direct design is often accompanied by excessive computational efforts, especially for complicated structural design problems such as optimization or reliability analysis. In this study, we introduce an efficient method for the sizing optimization of truss structures employing nonlinear inelastic analysis for the direct design of structures. The objective function is the total weight of the structure while the strength and serviceability constraints are evaluated with nonlinear inelastic analysis. To save computational cost, an improved differential evolution (DE) algorithm is employed. Compared to the conventional DE algorithm, the proposed method has two major improvements: (1) a self-adaptive mutation strategy based on the p-best method to enhance the balance between global and local searches and (2) use of the multi-comparison technique (MCT) to reduce redundant structural analyses. The numerical results of a 72-bar truss case study demonstrate that the performance of the proposed method has significant advantages over the traditional DE method.

Scalable and continuous fabrication of bio-inspired dry adhesives with a thermosetting polymer

Soft Matter ◽  
2018 ◽  
Vol 14 (14) ◽  
pp. 2586-2593 ◽  
Author(s):  
Sung Ho Lee ◽  
Sung Woo Kim ◽  
Bong Su Kang ◽  
Pahn-Shick Chang ◽  
Moon Kyu Kwak
Keyword(s):  
Fabrication Method ◽  
Dry Adhesive ◽  
Nano Structure ◽  
Dry Adhesives ◽  
Thermosetting Polymer ◽  
Continuous Fabrication

Continuous fabrication method of micro/nano structure using thermosetting polymer and dry adhesive production as its application are presented.

scholarly journals Continuous Tip Widening Technique for Roll-to-Roll Fabrication of Dry Adhesives

Coatings ◽  
2018 ◽  
Vol 8 (10) ◽  
pp. 349 ◽  
Author(s):  
Sung Lee ◽  
Hoon Yi ◽  
Cheol Park ◽  
Hoon Jeong ◽  
Moonkyu Kwak
Keyword(s):  
Production Technology ◽  
Adhesion Force ◽  
Continuous Production ◽  
Productivity Improvement ◽  
Dry Adhesive ◽  
Polyurethane Acrylate ◽  
Roll To Roll ◽  
Dry Adhesives ◽  
Pillar Structure ◽  
Capillary Force Lithography

In this study, we reported continuous partial curing and tip-shaped modification methods for continuous production of dry adhesive with microscale mushroom-shaped structures. Typical fabrication methods of dry adhesive with mushroom-shaped structures are less productive due to the failure of large tips on pillar during demolding. To solve this problem, a typical pillar structure was fabricated through partial curing, and tip widening was realized through applying the proper pressure. Polyurethane acrylate was used in making the mushroom structure using two-step UV-assisted capillary force lithography (CFL). To make the mushroom structure, partial curing was performed on the micropillar, followed by tip widening. Dry adhesives with properties similar to those of typical mushroom-shaped dry adhesives were fabricated with reasonable adhesion force using the two-step UV-assisted CFL. This production technology was applied to the roll-to-roll process to improve productivity, thereby realizing continuous production without any defects. Such a technology is expected to be applied to various fields by achieving the productivity improvement of dry adhesives, which is essential for various applications.

Adhesion performance of gecko-inspired flexible carbon nanotubes dry adhesive

2013 ◽  
Author(s):  
Yang Li ◽  
Hao Zhang ◽  
Geng Xu ◽  
Ling Gong ◽  
Zhenzhong Yong ◽  
...  
Keyword(s):  
Carbon Nanotubes ◽  
Dry Adhesive ◽  
Adhesion Performance

scholarly journals Improving controllable adhesion on both rough and smooth surfaces with a hybrid electrostatic/gecko-like adhesive

2014 ◽  
Vol 11 (93) ◽  
pp. 20131089 ◽  
Author(s):  
Donald Ruffatto ◽  
Aaron Parness ◽  
Matthew Spenko
Keyword(s):  
Relative Effectiveness ◽  
Adhesive Force ◽  
Similar Process ◽  
Ceramic Tiles ◽  
Surface Type ◽  
Dry Adhesive ◽  
Feedback Cycle ◽  
Dry Adhesion ◽  
Dry Adhesives ◽  
Electrostatic Adhesion

This paper describes a novel, controllable adhesive that combines the benefits of electrostatic adhesives with gecko-like directional dry adhesives. When working in combination, the two technologies create a positive feedback cycle whose adhesion, depending on the surface type, is often greater than the sum of its parts. The directional dry adhesive brings the electrostatic adhesive closer to the surface, increasing its effect. Similarly, the electrostatic adhesion helps engage more of the directional dry adhesive fibrillar structures, particularly on rough surfaces. This paper presents the new hybrid adhesive's manufacturing process and compares its performance to three other adhesive technologies manufactured using a similar process: reinforced PDMS, electrostatic and directional dry adhesion. Tests were performed on a set of ceramic tiles with varying roughness to quantify its effect on shear adhesive force. The relative effectiveness of the hybrid adhesive increases as the surface roughness is increased. Experimental data are also presented for different substrate materials to demonstrate the enhanced performance achieved with the hybrid adhesive. Results show that the hybrid adhesive provides up to 5.1× greater adhesion than the electrostatic adhesive or directional dry adhesive technologies alone.

scholarly journals Continuous Fabrication of Wide-Tip Microstructures for Bio-Inspired Dry Adhesives via Tip Inking Process

2019 ◽  
Vol 2019 ◽  
pp. 1-5
Author(s):  
Sung Ho Lee ◽  
Cheol Woo Park ◽  
Moon Kyu Kwak
Keyword(s):  
Continuous Process ◽  
Reversed Phase ◽  
Fabrication Process ◽  
New Method ◽  
Dry Adhesive ◽  
Microstructure Fabrication ◽  
High Durability ◽  
Dry Adhesives ◽  
Process System ◽  
Continuous Fabrication

In this paper, we report a new method for continuous fabrication of dry adhesives composed of microstructures with mushroom-shaped ends. Conventional mushroom microstructure fabrication is performed with a simple molding technique using a reversed phase master. In a typical fabrication process, thin- and wide-tip portions may be ripped during demolding, making it difficult to use in a continuous process. It is also difficult to apply the mushroom structure master to a continuous process system in roll form. Here, a continuous fabrication process was developed by applying the method of fabricating a wide tip using a tip inking method after forming a micropillar. Through the continuous process, the dry adhesive was successfully fabricated and the durability was measured with a reasonable pull-off strength (13 N/cm2). In addition to the reasonable adhesion, high durability is guaranteed, and fabricated dry adhesives are expected to be used in various fields.

Design of Track-Based Climbing Robots Using Dry Adhesives

2017 ◽  
Author(s):  
Matthew W. Powelson ◽  
Stephen L. Canfield
Keyword(s):  
Contact Surface ◽  
Climbing Robot ◽  
Complete Model ◽  
Climbing Robots ◽  
Dry Adhesive ◽  
Full Contact ◽  
Robot Systems ◽  
Dry Adhesives ◽  
Adhesion Model ◽  
Track Surface

This paper focuses on the design of track-type climbing robots using dry adhesives to generate tractive forces between the robot and climbing surface to maintain equilibrium while in motion. When considering the design of these climbing robots, there are two primary elements of focus: the adhesive mechanisms at the track-surface interface and the distribution of these forces over the full contact surface (the tracks). This paper will present an approach to integrate a generic adhesion model and a track suspension system into a complete model that can be used to design general climbing robot systems utilizing a broad range of dry adhesive technologies.

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