Morphology and contact mechanics influence adhesive characteristics of Dung Beetle’s bristle and Gecko’s setae

Geckos(Gekko gecko)use their hairy setae to adhere on various solid surfaces and dung beetles(Copris ochus Motschulsky)use their hairy bristles to anti-adhere in sticky environments.We study why two hairy systems express a conflict in functions by using SEM,histological approaches and functional experiments.Adhesion models and various parameters were collected and analyzed.Based on the morphological data and functional experimental results carried out by natural and denatured gecko setae and beetle bristles,we first demonstrated that the stiffness along the hair is 1000 to 30000 times that perpendicular to the hair.This stiffness difference is the key factor leading to the two hairy systems' functional differences.Slope of gecko setae reduces contact stiffness,increases contact points and real contact area that results in amazing adhesive abilities.On the other hand,stiff bristles in a beetle have higher contact stiffness,which reduces the real contact area and decreases the adhesion between two contact surfaces.Deformation of gecko setae destroys the hierarchical structure,increases the contact stiffness and results in a decrease of adhesion forces.Similarly,deformation of beetle bristles destroys the erect structure of the hair,interconnects the separated bristles and thus decreases the anti-adhesive functions.These observations inspire us in designing anti-adhesive and adhesive biomimetic systems     

Fabrication of high aspect ratio microfiber arrays that mimic gecko foot hairs

In nature, geckos have developed complex adhesion structures capable of smart adhesion, which is the ability to cling to different smooth and rough surfaces, even ceilings, and detach at will. The hierarchical structure of gecko foot hairs consists of microscale setae, branches and nanoscale spatulae, which contributes to their strong adhesion on different surfaces. In this paper, we propose a simple and low-cost method for fabricating two-level high aspect ratio microfiber arrays that mimic gecko foot hairs. SU-8 photoresist was used and single-level SU-8 microfiber arrays were obtained by a thick film photolithography process. Single-level polydimethyl-siloxane (PDMS) microfiber arrays were also obtained by a micromolding process and the master template for this process was fabricated using inductively coupled plasma (ICP) technology. Using the silicon mold with deep-hole arrays as a substrate, an SU-8 layer with microhole arrays was added to it using thick film photolithography and it formed a double stack mold from which the two-level hierarchical PDMS microfiber arrays were replicated. Water contact angle tests showed that the two-level hierarchical structures are extremely hydrophobic (about 148.5° compared with the Tokay gecko’s 160°).     

聚氨酯粘着性能的实验研究

用生物摩擦学实验系统研究聚氨酯材料的化学成分、试样连接刚度、试样间初始接触角等在不同法向载荷的粘着性能。结果表明，聚氨酯的化学成分对其粘着性能有重要影响，在多羟基化合物与MDI(二异氰酸酯)的组分比为1：2时，粘着力最大。连接刚度是影响粘着性能的另一主要因素。软连接情况下，不同接触角时，同样粗糙的表面上，材料的粘着性能相差不大。不同粗糙度的表面间的粘着力差异显著。刚性连接情况下，粘着力随接触角的增加而减小。在较光滑表面上降低的幅度大于粗糙表面上的幅度。上述实验结果为仿生足掌的设计提供了重要数据。     

MPU改性单组分聚氨酯胶粘剂的研制

改性单组分聚氨酯胶粘剂是由单组分聚氨酯胶和底涂剂组成的。测定了极性—极性,极性—非极性表面之间形成的胶粘粘合体的剥离强度。CR—SBS接枝MMA、AA聚合物和活性单体及交联剂与聚氨酯胶的组合,广泛用于各种表面,可产生最好的粘附力。     

厚壳贻贝足腺cDNA文库的构建及部分EST序列分析

为获得厚壳贻贝足腺组织的EST序列标签以及可能的功能基因序列,以pCMVsport6质粒为载体构建了高质量的厚壳贻贝足腺组织cDNA文库,文库滴度为1.31×107pfu/mL,重组率为98%,平均插入片段为1.3kb.通过对文库部分克隆的序列测定,获得了11个新基因和17个功能基因,其中包括部分与厚壳贻贝足丝相关的基因.厚壳贻足腺组织cD-NA文库的成功构建为将来筛选与厚壳贻贝足丝蛋白相关的新基因,系统研究其黏附机制奠定了基础.     

CVD金刚石涂层刀具附着力的研究

以压痕法涂层破碎时的负荷来评估附着力,采用稀盐酸对衬底进行表面处理,在ＣＶＤ沉积过程中添加适量粘结促进剂以压抑金属钴的催化墨化作用,沉积合适的厚度,可在硬质合金衬底上得到高附着力的金刚石涂层刀具．用该刀具对含碳化硅颗粒的铝基复合材料进行切削试验,得到了满意的结果．     

Glue from the Sea:Biomedical Adhesives Inspired by Algal Polymers

1 Introduction Tissue repair following surgery or trauma has been dominated by sutures,staples and wiring.Although these techniques are well established and widely used,their application often involves pain,unaesthetic results,or bleeding. These limitations emphasize the need for adhesive products to be available to surgeons.2 ResultsA challenging aspect of developing new tissue adhesive is to create a material that can glue wet surfaces.The success of synthetic glues under such an environment is very ...     

仿壁虎机器人足端三维力采集系统研究

在微重力环境下仿壁虎机器人在"着陆"到目标航天器表面时,将会受到较大的碰撞力,影响机器人稳定着陆粘附。针对以上问题,仿生设计了机器人的足端结构,在机器人足端装载三维力传感器;该力采集系统基于STM32和AD620芯片,设计了三维力采集系统硬件和软件;并对三维力传感器进行静态标定和解耦。实验开展了机器人脚掌的碰撞粘附力测试,达到了预期效果,能为实现微重力下仿壁虎机器人稳定粘附着陆,提供力反馈控制的硬件保障。     

高强度钢板方盒形件拉深粘模行为

采用方盒形件拉深成形的方法,对高强度钢板SPFC590在干摩擦和半干摩擦条件下的拉深粘模行为进行研究.选用的模具材料分为2类:一类为无涂层模具SKD11,SLD和等温淬火球墨铸铁ADI;另一类为以SKD11为基体的涂层模具TiCN(PVD),TiCN(CVD),TiC(CVD)和DLC.Si(DC-PACVD).采用无涂层模具时,在半干摩擦条件下仅少数几次拉深就出现宏观粘模现象,模具上粘模产生的位置位于凹模直边底部附近,而没有出现在凹模圆角处,并随着拉深次数的增加向上扩展;拉深工件上粘模产生的位置则位于工件项部的直边和圆角部分连接处,并随着拉深的进行向下扩展;涂层模具经120次拉深后均未发生明显的粘模,但TiCN(PVD)和TiCN(CVD)涂层模具在凹模底部附近出现了微观粘着物;TiCN(CVD)和DLC-Si(DC-PACVD)涂层模具拉深1 000次后均未出现明显粘模现象,但TiCN(CVD)涂层模具上出现了微观粘着物,而DLC-Si(DC-PACVD)涂层模具上没有任何粘着物产生.     

Locomotion behavior and dynamics of geckos freely moving on the ceiling

To understand the mechanical interactions when geckos move on ceiling and to obtain an inspiration on the controlling strategy of gecko-like robot, we measured the ceiling reaction force (CRF) of freely moving geckos on ceiling substrate by a 3-dimensional force measuring array and simultaneously recorded the locomotion behaviors by a high speed camera. CRF and the preload force (F_P) generated by the geckos were obtained and the functions and the differences between forces generated by fore- and hind- feet were discussed. The results showed that the speed of gecko moving on the ceiling was 0.17–0.48 m/s, all of the fore- and hind-legs pulled toward the body center. When geckos attached on the ceiling incipiently, the feet generated a very small incipient F_P and this fine F_P could bring about enough adhesive normal force and tangential force to make the gecko moving on ceiling safely .The F_P of the fore-feet is larger than that of the hind-feet. The lateral CRF of the fore-feet is almost the same as that of the hind-feet’s. The fore-aft CRF generated by the fore-feet directed to the motion direction and drove their locomotion, but the force generated by the hind-feet directed against the motion direction. The normal CRF of fore- and hind-feet accounted for 73.4% and 60.6% of the body weight respectively. Measurements show that the fore-aft CRF is obviously lager than the lateral and normal CRF and plays a major role in promoting the fore-feet, while the hind-feet of the main role are to provide a smooth movement. The results indicate that due to the differences of the locomotion function of each foot between different surfaces, the gecko can freely move on ceiling surfaces, which inspires the structure designing, gait planning and control developing for gecko-like robot.     

A wet adhesion inspired biomimetic pad with direction dependence and adaptability

A novel adhesive pad for a climbing robot, inspired by a stick insect’s smooth pad, is proposed. The micro structure pattern and inclined fiber of a stick insect’s pad are mimicked, and an adhesion force is produced based on its wet adhesion mechanism. Firstly, the wet adhesion model is discussed and the pad is designed; secondly, the adhesion characteristics, adhesion direction dependence and adaptability are analyzed; finally, the proposed pad is fabricated using a thermoplastic elastomer, which is a hydrophilic and viscoelastic material. Experimental results show that the adhesion performance of the pad is good, and normal adhesion and friction can reach to 0.65 N and 3 N. Furthermore, the adhesion of the pad is direction dependent and self-adaptive.     

Behavior and dynamics of gecko＇s locomotion： The effects of moving directions on a vertical surface

The study of the movement behavior of geckos on a vertical surface, including the measurement and recording of the reaction forces as they move in different directions, plays an important role in understanding the mechanics of the animals’ locomotion. This study provides inspiration for the design of a control system for a bionics robot. The three-dimensional reaction forces of vertical surface-climbing geckos (Gekko gecko) were measured using a three-dimensional force-sensors-array. The behavior of gecko as it moved on a vertical surface was recorded with a high speed camera at 215 fps and the function of each foot of a gecko are discussed in this paper. The results showed that the gecko increased its velocity of movement mainly by increasing the stride frequency in the upward, downward and leftward direction and that the speed had no significant relationship to the attachment and detachment times. The feet above the center-of-mass play a key role in supporting the body, driving locomotion and balancing overturning etc. The movement behavior and foot function of geckos change correspondingly for different conditions, which results in safe and effective free vertical locomotion. This research will be helpful in designing gecko-like robots including the selection of gait planning and its control.     

Size effect in nanoadhesion of fibrillar structure

The gecko has incredible climbing ability for its nanoscale hierarchical fibrillar structure foot-hair. Can we fabricate a new type of adhesive by mimicking the gecko mechanism? In this paper, we consider a simplified case of an elastic cylinder with hemispherical shape terminals adhering to a rigid substrate. By using the classical JKR model to calculate the adhesive strength, we find that the strong size effect arises when the cylinder's radius is in nanoscale. This finding may help us to design a biomemetic adhesive.     

一种二元复合结构聚合物减阻涂层的制备

为了通过表面形貌构型实现水下减阻,基于Benard对流理论制备了一种具有二元复合结构的聚合物涂层。采用高压空气喷涂工艺,将涂料喷涂在基体材料上形成液膜;液膜固化后,亚mm级和μm级二元复合的形貌结构在涂层表面自发形成。对液膜体系中温度变化及物料迁移分析的结果表明:溶剂蒸发导致了温度梯度和表面张力梯度的出现,由此引发的界面流和界面变形,是二元复合结构表面形貌形成的主要原因。在清华大学SKLT-1小型高速水洞中,对涂层的减阻性能进行了初步测试。测试结果表明,涂层具有显著的减阻效果。     

Divisional and hierarchical innervations of G. gecko’s toes to motion and reception

As a member of robot families, climbing robots have become one of the research hot-spots in the robotic field recently and Gekko gecko （G. gecko） has been broadly seen as an ideal model for climbing robot development. But for gecko-mimic robots, one of the key problems is how to design the robot＇s foot. In this paper, （1） high-speed camera recording and electrophysiological method are used to observe motion patterns of G. gecko＇s foot when it climbs on different oriented surfaces; （2） nerve innervations of gecko＇s toes to motion and reception are studied. It is found that the five toes of the G. gecko can be divided into two motion and reception divisions, and also its motion and reception are modulated and controlled hierarchically. The results provide important information and exclusive ideas for the foot design and control algorithm of gecko-mimic robots.     

Tribological behavior of CrN-coated Cr-Mo-V steels used as die materials

DIN 1.2343 and 1.2367 steels are commonly used as die materials in aluminum extrusion, and single/duplex/multi-coatings enhance their surface properties. The design of an appropriate substrate/coating system is important for improving the tribological performance of these steels under service conditions because the load-carrying capacity of the system can be increased by decreasing the plastic deformation of the substrate. In this study, the tribological behavior of CrN-coated Cr-Mo-V steels (DIN 1.2343, 1.2367, and 1.2999 grades) was investigated using different setups and tribological pairs at room and elevated temperatures. The aim of this study was to reveal the wear resistance of a suggested system (1.2999/CrN) not yet studied and to understand both the wear and the failure characteristics of coated systems. The results showed that (i) among the steels studied, the DIN 1.2999 grade steel exhibited the lowest friction coefficient because it had the highest load-carrying capacity as a result of secondary hardening at elevated temperatures; (ii) at room temperature, both abrasive tracks and adhesive layers were observed on the worn surfaces; and (iii) a combination of chemical reactions and progressive oxidation caused aluminum adhesion on the worn surface, and the detachment of droplets and microcracking were the characteristic damage mechanisms at high temperatures.     

Superhydrophobicity: drying transition of confined water

Long-range hydrophobic interactions operating underwater are important in the mediation of many natural and synthetic phenomena, such as protein folding, adhesion and colloid stability. Here we show that rough hydrophobic surfaces can experience attractive forces over distances more than 30 times greater than any reported previously, owing to the spontaneous evaporation of the intervening, confined water. Our finding highlights the importance of surface roughness in the interaction of extended structures in water, which has so far been largely overlooked.     

酸碱环境干湿循环下砂岩动态力学性能试验

为了探究砂岩在酸碱环境干湿循环作用下的动态力学特性,分别进行了不同酸碱环境下(pH=3、7、11)和不同干循环次数(n=0、5、10、15)耦合作用下砂岩试件的物理、动态力学试验,并借助红外热成像技术进一步评定了砂岩的损伤表现。研究表明：酸性溶液和干湿循环的耦合作用使试件孔隙的发育得到加速;但15次循环之后,试件孔隙率的增长速度放缓。砂岩的峰值应力与弹性模量在干湿循环10次后,劣化现象最为明显。并随着干湿循环次数的增加,主应力面与破裂面的夹角逐渐增大,试件破坏形式由脆性破坏向塑性破坏转变,红外热成像技术佐证了砂岩在受酸碱循环作用下试件内部发生的损伤,并根据热成像技术可进一步评定砂岩损伤表现。研究结果对隧道掘进、巷道开挖、地铁和水下工程等施工作业提供参考和借鉴。     

Controllable and switchable capillary adhesion mechanism for bio-adhesive pads: Effect of micro patterns

Some insects and animals, such as bugs, grasshoppers and tree frogs, realize their efficient adhesion mechanism to glass surface, wall and ceiling by injecting a wetting liquid thin film into the pad-substrate contact area. Their ability to control adhesion (attaching or detaching from a surface) is in many cases connected to the contact geometry and surface patterns of their attachment pads. This paper focuses on the dependence of the capillary adhesion (wet adhesion) on the micro patterns of the bio-adhesive pads. The objective is to reveal the possible mechanism for a bio-adhesive pad to control capillary force through adjusting its micro-scale surface pattern and topography. A capillary adhesion force model is built up taking account of the combined role of micro-dimple geometry as well as the wetting behavior of the confined liquid thin film. Calculated results of the apparent contact angle on the regularly micro-dimpled surfaces are compared with and in good agreement with the experimental measurements. Simulation of the capillary adhesion force reveals that it is controllable in a large magnitude by adjusting a dimensionless surface pattern parameter k defined as a/(a+b), where a is the diameter of micro dimple, and (a+b) is the side length of one pattern cell. When adjusting the parameter k more than 0.75, the capillary adhesion force could be switchable from attractive to repulsive. This effect of micro patterns on the interfacial capillary force is proved to be dominant when the pad-substrate clearance decreases to the nano/micrometer scale. These results indicate that a controllable and switchable capillary adhesive mechanism might be utilized by a living insect or animal to realize its stable adhesion and quick releasing movement through adjusting the micro-pattern topography of its bio-adhesive pad. Supported by the National Natural Science Foundation of China (Grant Nos. 50575123, 50730007), PPP Project from CSC and DAAD, and German Research Foundation (DFG) (Grant No. SFB622) (Y.H. Liu and S.I.-U. Ahmed)