Mechanical designs that explore the applicability of shape memory polymers

Abstract

Modified versions of epoxy-based shape memory polymers (SMPs) were tested and proven for their adhesive benefits in recent works. A heated dry adhesive system displaying strong adhesive performance on a variety of chemically dissimilar adherend was developed. This thesis explores the mechanical designs and performances of the novel apparatuses specifically invented to verify the system’s potential for practical applications. A macroscale multipurpose testbed capable of accurately measuring the adhesive strength, preload, and required peeling force for SMPs of various dimensions and properties was constructed. A total of three prototypes were designed and tested as an initial process of creating a wall climbing robot that utilizes heated dry adhesives. Each modified and improved prototype introduced a higher possibility of achieving a fully functional climber as well as the inherent physical challenges that must be overcome.