Abstract Tunable and reversible dry adhesion has important applications in transfer printing, precision manufacturing, and intelligent robotics. In this paper, a novel composite pad is fabricated whose adhesion can be adjusted rapidly and reversibly by the magnetic field. The composite pad consists of a cylindrical polydimethylsiloxane (PDMS) shell and a magnetorheological polymer gel (MRPG) core. The mechanical properties of the MRPG core in the pads are sensitive to the magnetic field. So the adhesion of the composite pad can be changed due to the interface stress modulation by the magnetic field. The interface stress is calculated by using the finite element method to study the mechanism of magnetically controllable adhesion. The results show the smaller the edge stress, the larger the adhesion. So composite pads with four different core shapes are prepared to optimize the structure design. Pad-bump has the largest magnetically tunable adhesion interval. The adhesion of composite pads on uneven surfaces is also tested and the results show the adhesion of composite pads with soft cores is improved compared to the solid core pad. Finally, a magnetic field controlled pick-and-place demonstration experiment shows that the composite pad array has great application potential in magnetically controlled grabbing and release.

中文翻译：

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具有磁流变聚合物凝胶芯的复合垫的磁性可调粘附

摘要 可调可逆干式附着力在转移印刷、精密制造和智能机器人等领域具有重要应用。在本文中，制造了一种新型复合垫，其粘附力可以通过磁场快速可逆地调节。复合垫由圆柱形聚二甲基硅氧烷（PDMS）壳和磁流变聚合物凝胶（MRPG）核组成。焊盘中 MRPG 磁芯的机械特性对磁场很敏感。因此，由于磁场对界面应力的调制，可以改变复合垫的附着力。采用有限元法计算界面应力，研究磁控粘附机理。结果表明，边缘应力越小，附着力越大。因此，准备了四种不同磁芯形状的复合垫来优化结构设计。Pad-bump 具有最大的磁性可调粘附间隔。还测试了复合垫在不平坦表面上的附着力，结果表明与实心芯垫相比，具有软芯的复合垫的附着力有所提高。最后，磁场控制取放演示实验表明，复合垫阵列在磁控抓取和释放方面具有巨大的应用潜力。