Experimental Study On Elastomer Footpad In Imitation Of Microstructure Of Salamander Feet

Biomimetic adhesion technology can improve the wall climbing robot's adaptability to wall material and wall quality in wet conditions, which is the hot spots in wall climbing robot's research at present. This paper comes from "Research on Wall Surface Adhesive Mechanism of Biomimetic Newt Microstructured Wlastomer Foot Pad under Wet and Slip Conditions", which belongs to the National Natural Science Fund of youth. It researches the microstructure of salamanders'foot special surface, makes the elastic foot pad which is similar to the surface structure of salamanders' feet, develops the test prototype for the experimental prototype test of biomimetic elastic foot pad surface friction and adhesion properties, and tests the surface adhesion and friction properties. The main work is as follows:1. Research related data of the wall climbing robot and then make the living salamander foot specimens according to the research. Observing the characteristics of the surface structure of sole by using AFM (atomic force microscopy) and SEM (scanning electron microscope). According to the observation and the characteristics of the surface structure, making the elastic foot pad by using lithography copy technology. Process the biomimetic elastic foot pad which is similar to the surface structure of salamander feet in the PDMS (poly two methyl siloxane) on the surface,2. According to the requirements of the biomimetic elastic foot pad performance test, develop the experimental prototype to test the surface friction and adhesion force. Performance analysis was conducted as well. Finally manufacture and debug the experimental prototype.3. Use the prototype of elastic biomimetic foot pad to test the adhesion characteristics of friction surface. The test results show that the surface adhesion properties of the biomimetic elastic foot pad are closely related to the area rate, shape and size.4. Use the surface contact angle measurement to test biomimetic elastic foot pad surface contact angle. Summarizes the influence of biomimetic elastic foot pad surface structure on the wettability.This research provides a way to design the wall-climbing robot's feet in slippery conditions, provides reference for the foot surface structure,and establishes a certain basis for climbing robots application in slippery conditions.