Research on Adhesion State Sensing Method for a Gecko-Inspired Multiscale Adhesive Structure

Yanwei Liu, 李博文

Keywords: gecko-inspired adhesive, controllable adhesion, multiscale structure, adhesion sensing

TL;DR: Research on Adhesion State Sensing Method for a Gecko-Inspired Multiscale Adhesive Structure

Abstract:

This study addresses the lack of real-time state
perception in existing gecko-inspired adhesive structures.
Inspired by the hierarchical "lamella-setae" architecture of
gecko toes, a multiscale adhesive structure was developed,
integrating a millimeter-scale boot-shaped elastic component
with a micrometer-scale mushroom-type adhesive array. Finite
element analysis based on a cohesive zone model was employed
to analyze stress distribution during adhesion-detachment
processes, identifying the optimal region for embedding a
thin-film pressure sensor. Experimental results demonstrate
that the sensing signal accurately responds to variations in
normal preload and shear displacement, effectively identifying
adhesion, slip, and detachment states. A gripper utilizing this
technology achieved stable grasping on smooth glass, real-time
state perception ("pick-and-place", "drop", "pick failure"), and
controllable switching between "strong adhesion" and "easy
detachment". This research provides a crucial step towards
adaptive and reliable robotic manipulation in unstructured
environments.

Submission Number: 21