The research team adoptsMofang Precision's Surface Projection Micro Stereoscopic Lithography（PμSL）3DPrinting technology（nanoArch^®S140 ProAccuracy:10 μm）Four parameters were prepared（曲率半径Contact layer thickness, support layer diameter, and gradient degree）adjustableSeries samplesThe experimental results show thatThe material exhibited stable adhesion and friction properties during testing: the adhesion strength exceeded60.0 kPaThe friction strength is higher than130.0 kPaAnd in200Still maintained after two consecutive cycles of testing90 %The above performance stability. In addition, this material is≥ 3°Slope≥R_a0.8 μmMaintain stable performance under rough surface and other conditions, and be able to withstand400 Hz/60 μmVibration conditions and-60~160℃Temperature variation environment within the range（Figure 1,2）.

image1. Design and vibration adjustment adhesion of imitation smooth pad/Schematic diagram of friction mechanism.

image2. Four key structural parameters affect its adhesion/rubRubbing performanceThe impact.

image3. Different structures in static state/Comparison of adhesion and friction performance on vibration rough substrates.

Further research has shown that the biomimetic curvature gradient smooth pad structure exhibits bimodal response and vibration tolerance under vibration testing conditions.In50 Hz/100 μmThe adhesion performance under vibration conditions is improved by the static state1.371 ± 0.004 Nupgrade to3.711 ± 0.037 N, with an increase of270.68 %(Modal)I）； But200 Hz/100 μmUnder vibration conditions, the adhesion force can be reduced to0.079 ± 0.050 NThe decrease is497.58 %(Modal)II）. The adhesive conversion switch ratio and conversion efficiency are46.79and97.86 %It is worth noting that gradient design enables materials to400 Hz/60μmCan still maintain under vibration environment70%aboveFriction performance（image3）.

image4. Mechanism analysis of surface adaptability and vibration control.

In terms of mechanism analysis, the magnetic particles arranged along the axial gradient inside the structure formThe modulus gradient structure of "top flexible and bottom rigid" effectively achieves uniform distribution of interface stress, enhances effective adhesion work, and reduces interface strain energy. The force and displacement test curves in vibration testing and the frequency and storage modulus measured by the time temperature equivalent principle/Analysis of data such as loss modulus indicates that low-frequency vibration enhances adhesion through elastic dominance (mode)Ⅰ）And high-frequency vibration weakens adhesion through viscous dissipation (mode)Ⅱ）Thus, it is possible to achieve less than30Millisecond adhesive detachment state switching, with response speed on the same level as geckos（image4）.

image5. Non destructive grip and release verification of surfaces such as metals, organic glass, and silicon wafers, as well as verification of portable modules.

image6. Temperature difference working conditions integrated with robotic arms and large-scale application verification.

After achieving non-destructive adhesion and detachment verification of materials such as metals, organic glass, and wafers on the testing platformThe research team further developed a total weight below280The cost is lower than50The handheld operation module of RMB has successfully achieved non-destructive handling of eccentric substrates (Figure 5). Portable modules can also be integrated into the end of robotic arms to meet high-precision and large-area operational requirements（image6）.

summary：The study proposesGradient distribution-The collaborative strategy of vibration induction has successfully achieved adhesion in inclined, rough, vibrating, and variable temperature environments/Stable adhesion and fast, reversible switching of frictional performance, providing structural adhesion/The transition of friction materials from passive structural optimization to active dynamic control provides new ideas for the development of "intelligent" end effectors suitable for dynamic environments.