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It, therefore, represents the maximum normal adhesion requirement for each position of the middle leg's tip.
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The maximum of the normal adhesion forces on the tips on the legs, i.e., (F_{text{fy}}, F_{text{my}}) and (F_{text{hy}}) in Fig. 1, required by the robot to stay attached to a vertical surface is minimized by examining different parameters of the structure using the FEM model developed in Part 1.
Fig. 11 A range of values of legs' cross-sectional area and middle leg's positions, a maximum adhesion force requirement, and b the maximum adhesion force within −0.5 and −0.1 of the maximum normal force/body weight.
Simplified, by changing the direction of loading, either the normal adhesion force is high and the friction is low, or the frictional component is high and the normal adhesion force is low.
The investigated parameters provide guidelines to design robots that loiter on vertical surfaces with minimum normal adhesion force.
The test runs were finished in normal adhesion condition, where the wheel slide protection (WSP) system did not work.
This proposed approach consists of the maximum shear strain range, the normal strain range and the maximum normal stress on the maximum shear strain range plane.
Adhesion experiments were performed to prove a normal adhesive function of basal and radiation-induced integrins.
The maximum relative normal displacement was 1.4 mm for a normal stress of 12 MPa.
Unlike poly-L-lysine, adhesamine induces apparently normal cell adhesion accompanied by organized actin structures and activation of focal adhesion kinase and ERK1/2 mitogen-activated protein kinases.
Furthermore, M2 macrophages derived from either CD11b- or CD11c-knockout mice exhibited normal cell adhesion, but antibody blockade of the respective complementary integrin abolished adhesion.
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