Wiltsie, Nicholas and Lanzetta, Michele and Iagnemma, Karl (2012) A Controllably Adhesive Climbing Robot Using Magnetorheological Fluid. 4th TePRA 2012, IEEE International Conference on Technologies for Practical Robot Applications . pp. 91-96.
The novel adhesive effects of magnetorheological fluid for use in climbing robotics were experimentally measured and compared to existing derived models. Contrary to these models, the fluid thickness between two parallel plates was found to have little effect on the adhesive failure strength and a positive effect on time to failure. Target surface roughness was found to have a detrimental effect on pull-off adhesion and a positive effect for shearing loads. A robot capable of adhering to ceilings was designed and shown to be capable of holding 7.6 kPa of adhesive stress in both shear on rough vertical surfaces and normal force on glass sheets, demonstrating a novel form of adhesion on a wide range of surface roughnesses and orientations.
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