Tribological Behavior and Attachment Force Regulation of Bioinspired Claw-Spines.

Yanan Zhang, Xinlong Wu, Hongjian Wu, Xuan Wu, Feng Zhang, Baolin Jia, Xinping Li, Jing Pang

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Article in Biomimetics (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

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8 authors.

Yanan ZhangCollege of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China.ORCID 0009-0004-0093-8151

Xinlong WuCollege of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China.

Hongjian WuCollege of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China.ORCID 0009-0009-9733-6080

Xuan WuInstitute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou 213164, China.

Feng ZhangCollege of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China.

Baolin JiaCollege of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China.

Xinping LiCollege of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China.

Jing PangCollege of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China.

Funding

Horizontal Project 20250248National Natural Science Foundation of China 52305190the Fundamental Research Funds for the Central Universities B250201269The Henan Province University-Enterprise Collaborative Innovation Project 26AXQXT027Young Talent Support Program of Henan Association for Science and Technology 2025HYTP023

6 · The paper itself

Abstract

This study investigates the tribological behavior of the attachment force between bio-inspired claw-spines and rough surfaces and conducts theoretical and model-based analyses of the corresponding attachment mechanism. Based on critical interfacial tribological theory, a frictional mechanics model for a single claw-spine interacting with an arbitrary rough surface was developed. Furthermore, a stiffness-matrix-based mechanical model of bio-inspired claw-spine attachment to arbitrary surfaces was established, together with a contact interaction model between the claw-spine and the contact surface. The force distribution during the contact and attachment of the claw-spine to arbitrary surfaces was analyzed in detail. Criteria for determining stable claw-spine attachment were formulated, and the safe range of frame displacement variation under the corresponding conditions was identified. Based on these analytical results, a test platform for the bio-inspired claw-spine attachment structure was designed. In the experiments, the developed attachment-force measurement system was used to measure and analyze the frictional attachment forces generated by the claw-spine foot on different rough surfaces. After the claw-spine entered the stable attachment stage, the maximum claw-spine attachment forces measured on 60-grit, 80-grit, and 120-grit sandpaper surfaces were 0.62 N, 0.54 N, and 0.61 N, respectively. The corresponding maximum attachment forces measured on horizontal and vertical brick surfaces were 0.92 and 0.99 N, respectively. The results provide a basis for the mechanical analysis and force sensing of bio-inspired claw-spine attachment states and establish theoretical and experimental foundations for subsequent research on attachment-state recognition and motion control based on attachment-force feedback.

Indexed as

attachment forceattachment mechanicsbio-inspired claw–spinetribological behaviorwall-climbing robot

Identifiers

PMID42645265

DOI10.3390/biomimetics11080549

PMCPMC13509991

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.