Design and control of a climbing robot based on hot melt adhesion

Osswald, Marc; Iida, Fumiya

doi:10.1016/j.robot.2013.02.004

Cited by 31 publications

(17 citation statements)

References 23 publications

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“…[193,194] www.advmattechnol.de When the polymer is in the solid state (glassy or semicrystalline), it has a relatively rigid surface, which is smooth (at best) to the level of capillary waves.…”

Section: Thermal Switchingmentioning

confidence: 99%

“…[86,87,98,103,[194][195][196][197] Using thermal changes to increase contact area has been adapted by Xie and Xiao through the use of a shape memory polymer bilayer. [86,87,98,103,[194][195][196][197] Using thermal changes to increase contact area has been adapted by Xie and Xiao through the use of a shape memory polymer bilayer.…”

Section: Shape Memorymentioning

confidence: 99%

“…[86,87,98,103,[194][195][196][197] Using thermal changes to increase contact area has been adapted by Xie and Xiao through the use of a shape memory polymer bilayer. [194] However, switching can be on the order of 100's of seconds and residues remain on attachment surfaces meaning glue is slowly "lost" during repeated use. In the high adhesion (on) state, the sample has high contact with a substrate, but when heated above 90 °C the sample returns to its curved memory state and peels off the substrate.…”

Section: Shape Memorymentioning

confidence: 99%

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Switchable Adhesives for Multifunctional Interfaces

Croll

Hosseini

Bartlett

2019

Adv Materials Technologies

109

107

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The reliable bonding or attachment of materials is critical in many industries, is a common necessity of daily life, and is key to functionality in numerous biological settings. [1][2][3][4][5][6][7][8][9][10][11] Adhesives Joining two materials with an adhesive is an extremely common activity, but is most often irreversible. However, emerging and current applications ranging from consumer and medical products to soft robotics and wearable bio-monitoring devices demand strong adhesives which can be easily removed on-demand and subsequently reused. This requires new paradigms in adhesive science and engineering, resulting in the emergence of new classes of multifunctional switchable adhesives. Here summarized is the current state of the art in switchable adhesive systems, focusing on how devices fit into the basic science of adhesion while providing performance metrics for comparison across current approaches. Using fracture mechanics as a guide, systems are classified as functioning under one of three basic mechanisms: near-interface, contact area, or mechanical. These mechanisms must be initiated or "triggered" by a specific input, which can include mechanical, electromagnetic, fluidic, or thermal stimuli. Triggers and adhesion switching performance are compared through the use of a "switching ratio," the interfacial energy release rate, and an estimate of mechanism timing. Finally, it is discussed that how the fundamental mechanisms relate to challenges and opportunities for switchable interfaces in future applications and adhesive systems.

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Section: Thermal Switchingmentioning

confidence: 99%

Section: Shape Memorymentioning

confidence: 99%

Section: Shape Memorymentioning

confidence: 99%

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Switchable Adhesives for Multifunctional Interfaces

Croll

Hosseini

Bartlett

2019

Adv Materials Technologies

109

107

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“…Hot melt adhesive (HMA) based adhesion can achieve some of the highest adhesion forces (150 newton per square centimeter) and has enabled the robot to have strong adaptability to any solid surfaces and unstructured terrains. However, they are low in speed, have large energy consumption, and usually leave traces behind [22]. With regard to the locomotion mechanisms, five major categories summarised in this work can be seen in Fig.…”

Section: Literature Review Of Climbing Robotsmentioning

confidence: 99%

A Concept Selection Method for Designing Climbing Robots

Guo

Justham

Jackson

et al. 2015

KEM

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Abstract. This paper presents a concept selection methodology, inspired by the Verein Deutscher Ingenieure (VDI) model and Pugh's weighted matrix method, for designing climbing robots conceptually based on an up-to-date literature review. The proposed method is illustrated with a case study of ongoing research, the investigation of an adaptable and energetically autonomous climbing robot, in Loughborough University.

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“…As Tables 1 and 2 show, five types of adhesion technologies (magnetic [13,14], pneumatic [15,16], mechanical [17], electrostatic [1,18,19], and chemical adhesion [20][21][22]) and six types of locomotion mechanisms (legs [23], wheels [24,25], tracks [26], slides [27], wires [7], and multi-linked modules [28][29][30]) were compared. A + or − marker means that the selected type was suitable or unsuitable, respectively, for use in meeting a particular requirement.…”

Section: Introductionmentioning

confidence: 99%