Force Space Studies of Elastomeric Anisotropic Fibrillar Adhesives

112 Pages·2010·6.61 MB·English

FORCE SPACE STUDIES OF ELASTOMERIC ANISOTROPIC
FIBRILLAR ADHESIVES
A DISSERTATION
SUBMITTED TO THE DEPARTMENT OF APPLIED PHYSICS
AND THE COMMITTEE ON GRADUATE STUDIES
OF STANFORD UNIVERSITY
IN PARTIAL FULFILLMENT OF THE REQUIREMENTS
FOR THE DEGREE OF
DOCTOR OF PHILOSOPHY
Daniel Ruben Soto
August 2010
© 2010 by Daniel Ruben Soto. All Rights Reserved.

Re-distributed by Stanford University under license with the author.

This work is licensed under a Creative Commons Attribution-

Noncommercial 3.0 United States License.
http://creativecommons.org/licenses/by-nc/3.0/us/

This dissertation is online at: http://purl.stanford.edu/vw463hb1522

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I certify that I have read this dissertation and that, in my opinion, it is fully adequate
in scope and quality as a dissertation for the degree of Doctor of Philosophy.
Thomas Kenny, Primary Adviser
I certify that I have read this dissertation and that, in my opinion, it is fully adequate
in scope and quality as a dissertation for the degree of Doctor of Philosophy.
Kathryn Moler, Co-Adviser
I certify that I have read this dissertation and that, in my opinion, it is fully adequate
in scope and quality as a dissertation for the degree of Doctor of Philosophy.
Mark Cutkosky
Approved for the Stanford University Committee on Graduate Studies.
Patricia J. Gumport, Vice Provost Graduate Education
This signature page was generated electronically upon submission of this dissertation in
electronic format. An original signed hard copy of the signature page is on file in
University Archives.
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Abstract
Previousresearch into theclimbingability ofthegecko lizard hasrevealed anadhesive
system fundamentally different from existing synthetic adhesives. Instead of using a
soft material, the gecko uses a complex system of hairs of beta-keratin, a material
that is not tacky. This unique architecture affords the adhesive characteristics that
make it well suited for climbing.
Borrowing themes from the gecko, we developed a synthetic adhesive possessing
similar properties using molded arrays of micron-scale silicone pillars. These arrays
demonstrate the gecko property of frictional adhesion where increased shear stress
at the interface leads to increased normal load capacity. To distinguish between
intrinsic and emergent behavior, we also isolated single pillars to test on a dual-
axis force-sensing cantilever capable of micro-Newton resolution. We observed that
gecko-like properties were observed for tapered pillars but not for pillars of uniform
cross-section.
Most syntheticadhesivearchitecturesusea uniformcross-section beambut there-
sultspresentedheresuggestsuchadesigndoesnotcapturegecko-likebehavior. These
results point to ways to optimize the type of adhesion demonstrated by the synthetic
dry adhesives and to create adhesives tailored for climbing or static applications.
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Acknowledgements
This work would not have been possible without the efforts and encouragement of
many people. My principal advisor, Tom Kenny, has been a great guide and mentor,
encouraging me to look beyond the details of the work at hand to see the larger
context and impact. Mark Cutkosky has allowed me to collaborate with his lab and
the experience has been very valuable. It has been interesting and valuable to be
member of two labs with different cultures. Kathryn Moler has been a source of
advice during my time at Stanford, her tough questions have improved the quality
of my work. My mentor in the Kenny group was Ginel Hill. Her work provided the
platform for many of the measurements presented in this work. In Aaron Parness
and No´e Esparza, I found both colleagues and friends. Their expertise made this
work possible and their friendship made this work enjoyable. There is also a larger
group of graduate student colleagues. The Kenny group is a place with wide-ranging
skill sets and interests. Advice has been available on topics ranging from embedded
electronics to energy policy, from silicon nitride to skiing. I have enjoyed my time
here and am grateful to everyone current and past. The BDML lab has provided
another group of friends and colleagues for support both academic and personal.
I’d also like to acknowledge the DARE fellowship and the VPGE for their support
over the past two years. The VPGE is doing great work to make sure that the
graduate experience at Stanford works for all students. I would also like to thank
the Physics and Astronomy program at San Francisco State University for giving me
the opportunity to demonstrate my potential as a graduate student. Last, some very
personal thanks to my family. My parents have done their best to encourage and
support my scientific curiosity. They made sure that computers and chemistry sets
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were available for me to learn and play. I know they made sacrifices to nurture my
abilities and I am grateful to them for that. The last thank you goes to my wife
Alissa. Her patience, compassion and support have kept this journey from being a
lonely one.
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Contents
Abstract iv
Acknowledgements v
1 Introduction 1
1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2 Background 3
2.1 Adhesion Fundamentals . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.1.1 van der Waals Adhesion . . . . . . . . . . . . . . . . . . . . . 3
2.1.2 Pressure Sensitive Adhesives . . . . . . . . . . . . . . . . . . . 5
2.1.3 Fibrillar Adhesives . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2 Limit Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2.1 Coulomb Friction Limit Surface . . . . . . . . . . . . . . . . . 7
2.2.2 Embedded Cone Model . . . . . . . . . . . . . . . . . . . . . . 10
2.2.3 Savkoor Briggs Model . . . . . . . . . . . . . . . . . . . . . . 12
2.2.4 Frictional Adhesion Limit Surface . . . . . . . . . . . . . . . . 13
2.3 Previous Literature . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3 Fabrication 18
3.1 Design Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.3 Mold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.3.1 Metal Deposition . . . . . . . . . . . . . . . . . . . . . . . . . 19
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3.3.2 SU-8 Deposition . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.3.3 First SU-8 Exposure . . . . . . . . . . . . . . . . . . . . . . . 21
3.3.4 Second SU-8 Exposure . . . . . . . . . . . . . . . . . . . . . . 21
3.3.5 SU-8 Cure and Develop . . . . . . . . . . . . . . . . . . . . . 22
3.4 Casting Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.5 Process Issues . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.5.1 Skinning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.5.2 Scalloping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.5.3 Alignment Issues . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.5.4 Going Forward . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4 Pillar Array Testing 35
4.1 Test Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.2 Testing Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.2.1 Data Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.3 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
5 Single Pillar Testing 46
5.1 Force Measurement System Description . . . . . . . . . . . . . . . . . 46
5.1.1 Dual Axis Cantilever . . . . . . . . . . . . . . . . . . . . . . . 46
5.1.2 Force Measurement System . . . . . . . . . . . . . . . . . . . 49
5.1.3 Sample Preparation . . . . . . . . . . . . . . . . . . . . . . . . 51
5.1.4 Limit Curve Test . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.2 Data Collection and Analysis . . . . . . . . . . . . . . . . . . . . . . 56
5.2.1 Piezo Drift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
5.3 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
5.3.1 Time Domain Force Trace Results . . . . . . . . . . . . . . . . 58
5.3.2 Single Wedge Limit Curve . . . . . . . . . . . . . . . . . . . . 60
5.3.3 Non-Tapered Wedge Limit Curve . . . . . . . . . . . . . . . . 62
5.4 Slanted Beam Limit Curves . . . . . . . . . . . . . . . . . . . . . . . 62
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6 Modeling 69
6.1 Peel Zone Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
6.2 Elastica Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
6.2.1 Cantilever with Point Load at End . . . . . . . . . . . . . . . 73
6.2.2 Fixed Slope at End of Beam . . . . . . . . . . . . . . . . . . . 77
6.3 Numerical Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
6.3.1 Validation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
6.3.2 Limit Surface Simulation . . . . . . . . . . . . . . . . . . . . . 82
7 Conclusion 89
7.1 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
7.2 Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
A Beam Compliance Characterization 91
A.1 Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
A.1.1 Axial Compliance . . . . . . . . . . . . . . . . . . . . . . . . . 91
A.1.2 Lateral Compliance . . . . . . . . . . . . . . . . . . . . . . . . 93
Bibliography 95
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List of Tables
5.1 Dual-axis cantilever stiffnesses . . . . . . . . . . . . . . . . . . . . . . 49
5.2 Comparison between measured and predicted array forces . . . . . . . 60
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