On the stability of a rod adhering to a rigid surface: Shear-induced stable adhesion and the instability of peeling

Majidi, Carmel; O’Reilly, Oliver M.; Williams, John A.

doi:10.1016/j.jmps.2012.01.015

Cited by 45 publications

(53 citation statements)

References 26 publications

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“…Euler's theory can be readily modified to include varying intrinsic curvature and terminal loads due to added mass or friction forces. Our developments and notation closely follow our earlier works [27,28] on adhered intrinsically curved rods.…”

Section: A Simple Model For a Soft-limbed Robotmentioning

confidence: 82%

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Flexing into motion: A locomotion mechanism for soft robots

Zhou

Majidi

O’Reilly

2015

International Journal of Non-Linear Mechanics

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Several recent designs of soft robots feature locomotion mechanisms that entail orchestrating changes to intrinsic curvature to enable the robot's limbs to either stick, adhere, or slip on the robot's workspace. The resulting locomotion mechanism has several features in common with peristaltic locomotion that can be found in the animal world. The purpose of the present paper is to examine the feasibility of, and design guidelines for, a locomotion mechanism that exploits the control of intrinsic curvature on a rough surface. With the help of a quasi-static analysis of a continuous model of a soft robot's limb, we show precisely how locomotion is induced and how the performance can be enhanced by controlling the curvature profile. Our work provides a framework for the theoretical analysis of the locomotion of the soft robot and the resulting analysis is also used to develop some design guidelines.

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Section: A Simple Model For a Soft-limbed Robotmentioning

confidence: 82%

“…We follow [27,28] in the treatment of stability criteria for the dry adhesion of rods. In Section 3, numerical integrations of the governing equations are analyzed.…”

Section: Introductionmentioning

confidence: 99%

Flexing into motion: A locomotion mechanism for soft robots

Zhou

Majidi

O’Reilly

2015

International Journal of Non-Linear Mechanics

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“…Figure 4 shows the schematic of a spatula in side contact with a flat and rigid substrate. The potential energy of the elastic rod-like spatula with a uniform, flat and ribbon-like cross section in the side contact configuration under external load can be described by the following equation [19]:…”

Section: (B) Mechanical Model Of the Setal Systemmentioning

confidence: 99%

“…Since the gecko's seta material is rather 'harder' than some polymer-based adhesives and thus has a larger bending inertia, the bending deformation should be considered. The side contact model based on Euler's elastica theorem has been adopted to address the problem for the side contact between a single fibril and the smooth rigid surface [16][17][18][19]. The model takes into account the bending deformation and the contact length in adhesion and proves to be effective in solving the anisotropic adhesive problem.…”

Section: Introductionmentioning

confidence: 99%

Mechanical analyses on the digital behaviour of the Tokay gecko ( Gekko gecko ) based on a multi-level directional adhesion model

Wang

Mei

et al. 2015

Proc. R. Soc. A.

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This paper proposes a multi-level hierarchical model for the Tokay gecko (Gekko gecko) adhesive system and analyses the digital behaviour of the G. gecko under macro/meso-level scale. The model describes the structures of G. gecko's adhesive system from the nano-level spatulae to the sub-millimetre-level lamella. The G. gecko's seta is modelled using inextensible fibril based on Euler's elastica theorem. Considering the side contact of the spatular pads of the seta on the flat and rigid substrate, the directional adhesion behaviour of the seta has been investigated. The lamella-induced attachment and detachment have been modelled to simulate the active digital hyperextension (DH) and the digital gripping (DG) phenomena. The results suggest that a tiny angular displacement within 0.25 • of the lamellar proximal end is necessary in which a fast transition from attachment to detachment or vice versa is induced. The active DH helps release the torque to induce setal non-sliding detachment, while the DG helps apply torque to make the setal adhesion stable. The lamella plays a key role in saving energy during detachment to adapt to its habitat and provides another adhesive function which differs from the friction-dependent setal adhesion system controlled by the dynamic of G. gecko's body.

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“…As shall be seen from our analysis, by appropriately varying κ 0 , it is possible to change the normal force (or the pinching force) at the contact point of the payload with the finger and successfully induce a state of static Coulomb friction between the payload and the finger. Our modeling and analysis work builds on the earlier papers Majidi et al (2012Majidi et al ( , 2013a; Zhou et al (2015) While we do not discuss the precise mechanism by which the intrinsic curvature is changed, there has been an increased interest in the development of mechanisms for changing κ 0 in components of soft robots. The interested reader is referred to Galloway et al (2013); Shepherd et al (2013); Suzumori et al (2007); Takashima et al (2011);Wakimoto et al (2009) for examples of these mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Soft hands: An analysis of some gripping mechanisms in soft robot design

Zhou

Majidi

O’Reilly

2015

International Journal of Solids and Structures

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In contrast to their more rigid counterparts, soft robots have the ability to gently grip and maneuver objects with open-loop kinematic control. Guided by several recent designs and implementations of soft robot hands, the present paper analyzes a rod-based model for the fingers in the hand of a soft robot.We show precisely how gripping is achieved and how the performance can be affected by varying the system's parameters. The designs we are interested in feature pneumatic control of the soft robot and we model this actuation as a varying intrinsic curvature profile of the rod. Our work provides a framework for the theoretical analysis of the soft robot and the resulting analysis can also be used to develop some design guidelines.

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On the stability of a rod adhering to a rigid surface: Shear-induced stable adhesion and the instability of peeling

Cited by 45 publications

References 26 publications

Flexing into motion: A locomotion mechanism for soft robots

Flexing into motion: A locomotion mechanism for soft robots

Mechanical analyses on the digital behaviour of the Tokay gecko ( Gekko gecko ) based on a multi-level directional adhesion model

Soft hands: An analysis of some gripping mechanisms in soft robot design

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