Adhesion is difficult to achieve on rough surfaces both in air and underwater. In nature, the northern clingfish (Gobiesox maeandricus) has evolved the impressive ability to adhere onto substrates of various shapes and roughnesses, while subject to strong intertidal surges. The suction disc of the clingfish relies on suction and friction to achieve and maintain adhesion. Inspired by this mechanism of attachment, we designed an artificial suction disc and evaluated its adhesive stress on rough surfaces and non-planar geometries. The artificial suction disc achieved adhesion strengths of 10.1  ±  0.3 kPa in air on surfaces of moderate roughness (grain size, 68 µm), and 14.3  ±  1.5 kPa underwater on coarse surfaces (grain size, 269 µm). By comparison, a commercially available suction cup failed to exhibit any significant adhesion in both scenarios. The roughly 2 g heavy clingfish-inspired suction discs gripped concave surfaces with small radii of curvature (12.5 mm) and supported payloads up to 0.7 kg. We correlated the effect of key bioinspired features (i.e. slits, a soft outer layer, and body geometry) to adhesion performance using contact visualization techniques and finite element analysis (FEA). The suction discs were then tested on a remotely operated vehicle (ROV) to demonstrate their utility in the soft manipulation of fragile objects.

中文翻译：

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受到螯鱼吸盘的启发，无论在水中还是水中，可逆附着在粗糙表面上。

在空气和水下的粗糙表面上都很难实现粘合。在自然界中，北部的粘鱼（Gobiesox maeandricus）已经发展出了令人印象深刻的能力，可以粘附在各种形状和粗糙度的底物上，同时还可以承受强烈的潮间波动。粘鱼的吸盘依靠吸力和摩擦力来达到并保持附着力。受这种附着机制的启发，我们设计了一个人造吸盘，并评估了其在粗糙表面和非平面几何形状上的粘附力。人造吸盘在中等粗糙度（粒度为68 µm）的空气中的粘附强度为10.1±0.3 kPa，而在粗糙表面（粒度为269 µm）的水下，粘附强度为14.3±1.5 kPa。相比之下，市售的吸盘在两种情况下均未表现出明显的粘附性。大约2克重的受螯鱼启发的吸盘可抓住曲率半径较小（12.5毫米）的凹面，并支撑有效载荷，最高可达0.7千克。我们使用接触可视化技术和有限元分析（FEA）将关键的生物启发特征（即狭缝，柔软的外层和身体几何形状）的效果与粘附性能相关联。吸盘随后在遥控车辆（ROV）上进行了测试，以证明其在易碎物品的软操纵中的实用性。和接触器的几何形状）使用接触可视化技术和有限元分析（FEA）来提高附着力。吸盘随后在遥控车辆（ROV）上进行了测试，以证明其在易碎物品的软操纵中的实用性。和接触器的几何形状）使用接触可视化技术和有限元分析（FEA）来提高附着力。吸盘随后在遥控车辆（ROV）上进行了测试，以证明其在易碎物品的软操纵中的实用性。