Recent research in the field of climbing robots indicates that electro-adhesion may provide an attachment method for robots to adhere to a wide range of materials. This study compares the use of several different styles and shapes of electrodes while maintaining a similar electrode area. Electroadhesion shear force testing was performed on electro-adhesive samples made with four different insulating polymers. These results are compared in order to indicate the best type of insulating material for electro-adhesives. Shear force adhesion tests are carried out on and compared for a wide range of common building materials. J. P. Díaz Téllez is with the Engineering
In this paper we present a study into the cleaning properties of synthetic dry adhesives. We have manufactured the adhesive micro-fibres through a low-cost, high yield fabrication method using Sylgard 184 Polydimethylsiloxane (PDMS) as the structural material. We deliberately contaminated the adhesive samples with different sized particles in the micro and macro scales and tested different cleaning methods for their efficacy with respect to each particle size. We investigated different cleaning methods, which included the use of wax moulding, vibration and pressure sensitive adhesives. For adhesion testing we used a custom system with a linear stage and a force sensor indenting a hemispherical probe into the adhesive surface and measuring the pull-off force. To characterize the cleaning efficacy we visually inspected each sample in a microscope and weighed the samples with a microgram-accuracy analytical balance. Results showed that the moulding method induced adhesion recovery in a greater percentage than the other cleaning methods and even helped with the recovery of collapsed posts in some cases. On the other hand pressure sensitive adhesives seem to have the upper hand with regards to certain particle sizes that can potentially pose problems with the moulding method.biomimetic, dry adhesive, PDMS, self-cleaning, gecko, climbing
Citation:Díaz Téllez J P, Sameoto D, Menon C. Cleaning properties of dry adhesives.
The reaction of the acetylacetonates [(η-CMe)M(acac)Cl] with (S)-[HMaxPhos][BF] afforded cationic complexes with the formula (S,R)-[(η-CMe)MCl(MaxPhos)][BF] (M = Rh (1), Ir (2)). The reaction of (S)-MaxPhos with [RuCl(μ-Cl)(η-p-MeCHPr)] and NHX afforded (S,R)-[(η-p-MeCHPr)RuCl(MaxPhos)][X] (X = BF (3), PF (3')). The complexes have been completely characterized by analytical and spectroscopic means, including the determination of the crystal structures of 1, 2 and 3'. Treatment of the iridium complex 2 with AgBF, at 253 K, resulted in the intramolecular cyclometallation of one of the tert-butyl substituents of the MaxPhos diphosphane ligand, affording a mixture of isomers of (S,R,S and R,R,R)-[(η-CMe)Ir(MaxPhos)][BF] (4a and 4b). However, rhodium complex 1 and ruthenium complex 3 reacted with AgBF forming the expected unsaturated intermediates "(η-ring)M(MaxPhos)" which were trapped by MeCN, affording the cationic adducts (S,R)-[(η-ring)M(MaxPhos)(MeCN)][BF] (M = Rh (5), Ru (6)). Only one epimer at the metal was isolated in high yield for the complexes 1, 2, 3, 3', 5 and 6 and the metallation of 2 to give 4 occurs with high diastereoselectivity.
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