715 kpa, 60 kpa; ( Three D imensional Obstacle - Free Robot, TDOF ) kpa., kpa, TDOF. Ronald

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1 29 5 Vol. 29 No Tribology Sep t., , 2, 2, 2, 2 (1., ; 2., ) : JKR, 2. : 20, 45,,., :,,, ; 30 mn, 2. 4 kpa, 2. 2 kpa,, 3. 1 kpa, 41% ;,,. : ; ; ; : TB17; TB324 : A : (2009) ,, ( Three D imensional Obstacle - Free Robot, TDOF ). :,,, [ 1, 2 ]. TDOF,.,.,, TDOF.,. : Ronald, 1 kpa, 20 kpa [ 3 ] ; Sitti,, 120 kpa, 180 kpa [ 4 ] ; Gorb [ 5 ], 715 kpa, 60 kpa; [ 6 ], 19 kpa, kpa.,, [ 7 ], kpa, 925 kpa, Science. TDOF..,,.,.,., : ; : ; :, e - mail: meehzhang@ nuaa. edu. cn : (2007AA04Z201) ; ( ) ; (BK ). : ( ),,,,,.

2 394 29,. 1,. 1, 2,, 2. S :,. SYLGARD 184, A B 1 20, 1. 4 mm 0. 5 mm ( A ) 1. 0 mm 0. 4 mm ( B ) mm ( YH - 1, ),, 24 h,. UMT - 2 (CETR, ). (4 mm 2 mm, ).,,.,, 0. 5 mn 30 mn. 1 m / s, 10 s,. ( ), 1 m / s Z,, 1.,, Fig. 1 Illustration of adhesion test p rocess 1 10 s,,., JKR [ 8-9 ], Fig. 2 Sketch of single adhesive stalk 2 2 S = (1) 4cos( ) 0 < < 90 ; (1), 1 + 2,,., [ 10 ].,,,,. :,, [ 11 ],.,,,,,,.,.,,, [ 12 ] : k = k a k a 1 2 cos 1 + = Ea2 4l sin ( 1 + ), tan = k p cos 1 k a sin 2 sin 1 k p, k p 1. (2) = 3 Ea4 64 l 3, = 3. 10, ; 20, ,,,

3 5, : N /m, N /m,. 1, 1 20, 2 45,, ,,,,,,,. :, Fig. 3 Relationship of stalk stiffness vs lean angle 3 - ;, 30 m in;, 80 2 h,. 4,,,,,. 2. 3,,,., 5. 5 ( a).,,,,., 5 ( b) 3.,,. 5 (b) A B.,. 1 Table 1 Rela tion sh ips of sta lks parameter w ith lean angle / ( ) / ( ) / ( ) Stiffness k / (N m - 1 ) Base length D /mm Contact area S /mm Note: The result in the table is calculated with the formulas (1) and (2), on the assump tion that the fiber diameter is 0. 5 mm, the length is 1. 4 mm and the Young smodulus is MPa [ 13 ]. The base length (D) means the axial distance from the cross surface bottom to the substrate which affects the anti - collapse ability of the seta, - means negative. Fig. 4 D iagram s of adhesive arrays 4

4 mn,, mn; 20 mn,, A mn, 2. 3 kpa., B A. B A,, B A.,,,., 6. 6 ( a), mn, ( ).,,. 30 mn, kpa, mn., 41%.,,,.,,. 6 ( b) mn,. 6 ( b), 3 20 mn mm,.,.

5 5, : 397 :,,, ;,,,,,,.,,,,. 6 ( b) -. TDOF,,,,, ;,,,,,.,, TDOF. 3 a. 2. b.,,. c.,, 40%. d.,,,. : [ 1 ] Autumn K, Chang W P, Fearing R, et al. Adhesion force of a single gecko foot - hair[ J ]. Nature, 2000, 405 (8) : [ 2 ] Autumn K, SittiM, L iang YA, et al. Evidence for van derwaals adhesion in gecko setae[ J ]. PNAS, 2002, 99 : [ 3 ] Lee J, Majidi C, Schubert B, et al. Sliding induced adhesion of stiff polymer microfiber arrays : 1. macroscale behaviour [ J ]. Journal Royal Society, Interface, 2008, 5 (25) : [ 4 ] Kim S, Sitti M, B iologically insp ired polymer m icrofibers with spatulate tips as repeatable fibrillar adhesives [ J ]. Physics Letters, 2006, 89 (261911) : 1-3. Applied [ 5 ] Gorb S N, Varenberg M, Peressadko A, et al. B iom imetic mushroom - shaped fibrillar adhesive microstructure [ J ]. Journal of The Royal Society Interface, 2007, 4 (13) : [ 6 ]. [ J ]. MEMS, 2008, 3 (45) : Wang H J. Fabrication of biom imetic gecko m icro - array and its adhesion[ J ]. MEMS Device & Technology, 2008, 3 (45) : [ 7 ] Qu L T, Dai L M, Morley S, et al. Carbon nanotube arrays with strong shear binding - on and easy normal lifting - off [ J ]. Science, 2008, 322 (328) : [ 8 ] Johnson K L, Kendall K, Roberts A D, Surface energy and the contact of elastic solids [ J ]. Proc. of the Royal Society A : Mathematical, Physical and Engineering Sciences, 1971, 324 (1558) : [ 9 ] Johnson K L, Adhesion and friction between a smooth elastic spherical asperity and a plane surface [ J ]. Proc. of the Royal Society A : Mathematical, Physical and Engineering Sciences, 1997, 453 (1956) : [ 1 0 ],,,. [ J ]., 2005, 51 (4) : Sun J R, Guo C, Cheng H, et al. Comparison of the setae between the Dung Beetle (Copris Ochus) and the Gecko ( Gekko Gecko) and the effects of deformation on their functions[ J ]. Acta Zoologica Sinica, 2005, 51 (4) : [ 1 1 ] Gorb S N, Varenberg M, Peressadko A, et al. Mushroom - shaped geometry of contact elements in biological adhesive systems [ J ]. Journal of Adhesion Science and Technology, 2007, 21 (12-13) : [ 1 2 ] Dai Z D, Sun J R, David Y, et al. Effects of morphology and contact mechanics on adhesive characteristics of dung beetle s bristle and gecko s setae [ J ]. Progress in Natural Science, 2007, 117 (9) : [ 1 3 ] Guo D J, Xiao S J, L iu H B, et al. D iffusion of hydrosilanes from the control layer to the vinylsilane - rich flow membrane during the fabrication of microfluidic chips [ J ]. Langmuir, 2005, 21 : [ 1 4 ],,,. [ J ]., 2005, 16: Dai Z D, Yu M, Ji A H, et al. Study on tribological characteristics of animals driving pads and their bionic design [ J ]. China Mechanical Engineering, 2005, 16: [ 1 5 ],,,. [ J ]., 2007, 5: Wang TM, Meng C, Pei B Q, et al. Summary on Gecko robot research[ J ]. Robot, 2007, 5: [ 1 6 ],, Gorb S N. 4 [ J ]., 2003, 23 (3) : Dai Z D, Hui C, Gorb S N. Effect of surface roughness on the adhesive properties of polyurethane[ J ]. Tribology, 2003, 23 (3) :

6 Design, Fabr ication and Adhesion Test of Lean Bio - inspired Seta L IU B in 1, 2, ZHANG Hao 2, GUO Dong - jie 2, DA I Zhen - dong 2 (1. College of M echanical and Electrical Engineering, N anjing , China 2. Institute of B io - inspired S tructure and Surface Engineering, N anjing U niversity of A eronautics & Astronautics, N anjing , China) Abstract: Two kinds of lean setae with lean cross surfaces were designed from JKR theory and fabricated under vacuum condition. Theoretical calculation indicated that the resulted setae had desired adhesion p roperty when the lean angle was about 20 and cross surfaces angle was about 45. In addition, it is also convenient to control the attachment and detachment of setae. anisotrop ic adhesion of the setae. The universal m icro tribometer - 2 (UMT - 2) system was used to exam ine the Results showed that the adhesion force increased with the increase of the normal load under flat - to - flat contact and finally came to the maximum adhesion force of 2. 4 kpa under a p reload of 30mN; the adhesion of sliding against the setae was about 2. 2 kpa, a bit lower than that without sliding. W hile sliding along the setae, the adhesion reached 3. 1 kpa, increased roughly by 41% relative to sliding against the setae. The adhesion increased within a small slide, then, decreased with the increasing distance. Key words: setae, anisotropy, adhesion, cast Author: DA I Zhen - dong, male, born in 1962, Ph. D., Professor, e - mail: zddai@ nuaa. edu. cn

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