**4. Conclusions**

This paper established a complete contact model for polyurethane setae arrays, which considered the Hertz contact theory, the surface energy theory, the cantilever beam theory, and the rough surface mode comprehensively. When analyzing the contact of a single seta, the setae rod was simplified as a cantilever beam, with its axial and radial stiffnesses converted into longitudinal and transverse stiffnesses. Integrating the single setae quasistatic contact theory and the rough surface model, the setae array contact model was further obtained. After that, a parameter analysis was conducted and verified by the corresponding experimental data. The main conclusions were as follows:


**Author Contributions:** Conceptualization, Q.L. and S.Y.; Software, C.W.; Validation, Z.J., M.L. and Q.L.; Writing—Original Draft Preparation, Q.L. and Z.J.; Writing—Review and Editing, Z.D. and C.W.; Supervision, S.Y. All authors have read and agreed to the published version of the manuscript.

**Funding:** This work was supported by the National Natural Science Foundation of China (52102436), the Fundamental Research Funds for the Central Universities (30920021109), the Natural Science Foundation of Jiangsu Province (BK20200496), the China Postdoctoral Science Foundation (2020M681615), and the project of Key Laboratory of Impact and Safety Engineering (Ningbo University), the Ministry of Education (CJ202107).

**Institutional Review Board Statement:** Not applicable.

**Informed Consent Statement:** Not applicable.

**Data Availability Statement:** Data are contained within the article. The data presented in this study can be seen in the content above.

**Acknowledgments:** We wish to express our gratitude to the members of our research team, Shuai Yue, Chunbo Wu, Zhonghui Jiang, Zhonghua Du, and Mengsheng Li.

**Conflicts of Interest:** The authors declare no conflict of interest.
