Structural Properties of a Scaled Gecko Foot-hair

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Structural Properties of a Scaled Gecko Foot-hair
Bioinspiration and Biomimetics, 2(2007), 1-8 Jose
Berengueres, etc..

• Reporter Dong-Yi Lin Adviser Wang-Long Li
  Date01/08/2008

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Outline of the Report

• Introduction on the need of the climbing system
  and some adhesion mechanisms.
• Gecko hair structure
• Shape effects of gecko hair structure
• Prototype Magnetic Pads

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Introduction on the Needs to Climbing on the Wall

1. Robots for surveillance/security that can cling
   and move on vertical surfaces

1. Robots for the maintenance/inspection of manmade
   structures.

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Adhesion Mechanisms
(b) Electrostatic Chucks

• (a) Suction Cups

Conference Record of the 2001 IEEEVolume 1,
Issue , 30 Sep-4 Oct 2001 Page(s)399 - 403 vol.1
Fifth International Conference on IEEE Volume ,
Issue , 19-22 Jun 1991 Page(s)753 - 758 vol.1
(c) Silk-like Secretion
(d) Millimeter-claws
Tarantula
NATURE Vol 443 28 September 2006
Proc. of SPIE Vol. 6230, 623017, (2006)
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Setae of Gecko

• The characteristic shapes of the hairs seem
  related to functions for energy efficient walk.

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Principle of Gecko Adhesion
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Substitution Force
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Compliance of Gecko-like Hair
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Lever Effect
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Foot-print Effect
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Peeling Effect
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Stiffness Asymmetry Effect

• Stiff hairs are easier to detach from a
  non-ideally-flat surface than softer ones. Ex.
  Chewing gum

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Prototype Magnetic Pads
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Prototype Magnetic Pads
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Discussion

• Drawback
• Only climbing up down!
• Improvement