GRIP
MATRIX
DragonWorx.bio
GripSuit Material Lab
v3.0 — May 2026
Adhesion and friction modelling across the full GripSuit mechanism stack — vdW nano-pillars, clingfish compliant lip, remora lamellar spinules, and DOPA mussel chemistry — against eight substrate classes from polished glass to submerged concrete. Each mechanism activates or deactivates based on surface roughness regime and moisture conditions.
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Adhesion Mechanism / SKU
— Smooth Surface (vdW) · Scout / Gloss
PU Nano-Pillars 200 nm spatular tips Tokay gecko · vdW adhesion
PU+CNT Pillars MWCNT-reinforced tips Gecko · CNT-enhanced fatigue
— Rough Surface Stack · Rough
Clingfish Lip Shore 20A silicone annular lip Gobiesox maeandricus · Ra 50–800 μm
Remora Lamellae PDMS self-tightening spinules Echeneis naucrates · shear load
— Submerged / Wet · Aqua
DOPA Coating Catechol surface chemistry Mytilus edulis · submerged bonding
ES Augmentation 1–3 kV electrostatic grid Electric ray analogue · PVDF-powered
— Serpentis Suit Materials (for comparison) · Apex
Shark Denticle Riblet outer film Isurus oxyrinchus · friction/drag
Helicoidal CF Mantis shrimp architecture Stomatopoda · impact resistance
Substrate Surface — dashed border = rough surface (Ra >50 μm)
Polished Glass
Granite
Smooth Concrete
Rough Concrete
Cast Masonry / Brick
Natural Rock
Painted Steel
Wet / Submerged Steel
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Conditions
Normal load (N)200 N
Contact area (cm²)50 cm²
Surface moisture (0=dry, 1=submerged)0.0
Surface roughness Ra (μm)5 μm
Shear velocity (m/s)0.5 m/s
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Effective Adhesion / Friction
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Active mechanisms at current conditions
Effective Adhesion vs. Surface Roughness (Ra)
Full Mechanism × Substrate Matrix (effective μ / adhesion, dry)
Shear Force vs. Normal Load (current mechanism + substrate)