Design of a biomimetic gecko adhesion array for microrobots

In this work the design of a biomimetic gecko adhesion array for future microrobots is described. First, models for understanding the array design are issued, and based on moment equilibrium the theory of actuation mechanism of the array is discussed in detail. Then the design parameters such as length, diameter, separation distance, and density of array are determined for non-matting. Finally, the fabrication technique is proposed

[1]  R. Full,et al.  Adhesive force of a single gecko foot-hair , 2000, Nature.

[2]  J. Israelachvili.  Intermolecular and surface forces , 1985 .

[3]  Ronald S. Fearing,et al.  Nanomolding based fabrication of synthetic gecko foot-hairs , 2002, Proceedings of the 2nd IEEE Conference on Nanotechnology.

[4]  A. Geim,et al.  Microfabricated adhesive mimicking gecko foot-hair , 2003, Nature materials.

[5]  R. Full,et al.  Evidence for van der Waals adhesion in gecko setae , 2002, Proceedings of the National Academy of Sciences of the United States of America.

[6]  Ronald S. Fearing,et al.  Fabrication of gecko foot-hair like nano structures and adhesion to random rough surfaces , 2003, 2003 Third IEEE Conference on Nanotechnology, 2003. IEEE-NANO 2003..

[7]  Metin Sitti,et al.  High aspect ratio polymer micro/nano-structure manufacturing using nanoembossing, nanomolding and directed self-assembly , 2003, Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003).

[8]  Huajian Gao,et al.  Mechanics of hierarchical adhesion structures of geckos , 2005 .

[9]  Ronald S. Fearing,et al.  Synthetic gecko foot-hair micro/nano-structures for future wall-climbing robots , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).