ABSTRACT
Snails can stably slide across a surface with only a single high-payload sucker, offering an efficient adhesive locomotion mechanism for next-generation climbing robots. The critical factor for snails' sliding suction behaviour is mucus secretion, which reduces friction and enhances suction. Inspired by this, we proposed an artificial sliding suction mechanism. The sliding suction utilizes water as an artificial mucus, which is widely available and evaporates with no residue. The sliding suction allows a lightweight robot (96 g) to slide vertically and upside down, achieving high speeds (rotation of 53°/s and translation of 19 mm/s) and high payload (1 kg as tested and 5.03 kg in theory), and does not require energy during adhesion. Here, we show that the sliding suction is a low-cost, energy-efficient, high-payload and clean adhesive locomotion strategy, which has high potential for use in climbing robots, outdoor inspection robots and robotic transportation.
ABSTRACT
Suction is a highly evolved biological adhesion strategy for soft-body organisms to achieve strong grasping on various objects. Biological suckers can adaptively attach to dry complex surfaces such as rocks and shells, which are extremely challenging for current artificial suction cups. Although the adaptive suction of biological suckers is believed to be the result of their soft body's mechanical deformation, some studies imply that in-sucker mucus secretion may be another critical factor in helping attach to complex surfaces, thanks to its high viscosity. Inspired by the combined action of biological suckers' soft bodies and mucus secretion, we propose a multiscale suction mechanism which successfully achieves strong adaptive suction on dry complex surfaces which are both highly curved and rough, such as a stone. The proposed multiscale suction mechanism is an organic combination of mechanical conformation and regulated water seal. Multilayer soft materials first generate a rough mechanical conformation to the substrate, reducing leaking apertures to micrometres (~10 µm). The remaining micron-sized apertures are then sealed by regulated water secretion from an artificial fluidic system based on the physical model, thereby the suction cup achieves long suction longevity on complex surfaces but minimal overflow. We discuss its physical principles and demonstrate its practical application as a robotic gripper on a wide range of complex dry surfaces. We believe the presented multiscale adaptive suction mechanism is a powerful unique adaptive suction strategy which may be instrumental in the development of versatile soft adhesion.
Subject(s)
Robotics , Water , Suction , Equipment DesignABSTRACT
In this work, titanium dioxide (TiO2)-incorporated rice straw fiber (RS)/poly(butylene succinate) (PBS) biocomposites were prepared by injection molding with different TiO2 powder loadings. The RS/PBS with 1 wt% TiO2 demonstrated the best mechanical properties, where the flexural strength and modulus increased by 30.34% and 28.39%, respectively, compared with RS/PBS. The non-isothermal crystallization of neat PBS, RS/PBS composites, and titanium-dioxide-incorporated RS/PBS composites was investigated by differential scanning calorimetry (DSC) and X-ray diffraction (XRD). The non-isothermal crystallization data were analyzed using several theoretical models. The Avrami and Mo kinetic models described the non-isothermal crystallization behavior of neat PBS and the composites; however, the Ozawa model was inapplicable. The crystallization temperature (Tc), half-time of crystallization (t1/2), and kinetic parameters (FT) showed that the crystallizability followed the order: TiO2-incorporated RS/PBS composites > RS/PBS > PBS. The RS/PBS with 1 wt% TiO2 showed the best crystallization properties. The Friedman model was used to evaluate the effective activation energy of the non-isothermal crystallization of PBS and its composites. Rice straw fiber and TiO2 acted as nucleating agents for PBS. The XRD results showed that the addition of rice straw fiber and TiO2 did not substantially affect the crystal parameters of the PBS matrix. Overall, this study shows that RS and TiO2 can significantly improve the crystallization and mechanical properties of PBS composites.
