Engineering Gecko-inspired adhesives

The last 20 years have seen considerable interest in bioinspired dry adhesives, based on discoveries regarding the adhesive system of the gecko and some arthropods. Such adhesives typically have the advantage of being reusable, leaving no residue, and allowing control of the adhesion through loading states. However, the number of practical applications of these adhesives remains small. One possible reason is that unlike in mechanical design, where design, simulation, and testing methodologies are all well established, there are significant gaps in all of these phases of engineering as applied to gecko-inspired adhesives. There are a variety of methods and metrics used for evaluating adhesives, often giving differing results, and even in some cases results that do not accurately reflect those observed in practical applications. Even with an accurate evaluation of an adhesive material, refining the design is challenging, as the design and manufacturing methods are typically time-consuming, highly constraining, or both. At the same time, there continues to be growing interest in the use of these adhesives in wide-ranging applications including reusable tapes and bandages; improved and more gentle industrial grippers; and grasping objects in space, where the combination of large objects, low contact forces, and lack of atmosphere make adhesives of particular interest. To address this growing need for improved ability to design and manufacture adhesives tailored to these applications, a three-pronged approach is taken. An improved method for testing gecko-inspired adhesives is presented. Unlike the common testing paradigms published in the literature, which impose a fixed displacement between the adhesive material and a test surface, the proposed testing method uses a series elastic configuration to apply forces to the adhesive. This shift in test control from displacement-space to force-space allows the testing conditions to be aligned to those seen in applications; whether for climbing, grasping, or adhesive tapes, nearly all applications of gecko-inspired adhesives fundamentally involve force-space constraints in normal conditions. It is shown that by testing the adhesives in similar conditions to those observed in use, the measured limit curves better reflect those seen in practice. Further, in cases where the adhesive structures are more complicated, or more integral to the performance of the adhesive---such as the directional, controllable adhesives at the core of this work---force-space testing enables measuring the full capabilities of the adhesive, which in many cases are impossible to measure in displacement-space. With the ability to accurately measure more complex limit curves, spatial variation is investigated as a means to improve the ability to create adhesives with novel parameters. In this case, the property of interest is a high friction ratio, the ratio of friction in a preferred direction to friction in the opposite direction, a property of the natural gecko adhesive system. Taking inspiration from the spatial variation found on the gecko's feet, an adhesive structure with wedges of varying length is developed, modeled, and analyzed. The friction ratio of this adhesive is measured, indicating an improvement of orders of magnitude over the current state of the art. Further, this adhesive structure also demonstrates the possibility of simplifying the adhesive design problem. Rather than developing a single complex feature to provide all of the desired properties, spatial variation permits the development of multiple features that are individually simpler but interact to provide more complex behavior. A discussion of the manufacturing process and associated fabrication constraints for these designed adhesive geometries follows. The process is an extension of a previous manufacturing process developed for making uniform adhesives. This is coupled with methods for directly incorporating adhesives into larger assemblies to create tightly coupled adhesive and sensing systems. Finally, a simplified design framework is presented, synthesizing many of the concepts from the prior sections. The current state of the art in adhesive simulation and modeling, while useful for understanding and explaining various specific aspects of adhesive design, is not adequate for directly analyzing the adhesion of complex adhesive geometries. The framework is intended to be a heuristic that synthesizes concepts from the various models of adhesion to provide useful guidance for thinking about adhesive designs for particular applications

Keywords: Mechanical Engineering.
Advisor: Cutkosky Mark R. 
Kenny Thomas William 
Pavone Marco