The adhesion between a micro=nano-object and a micro-gripper end-effector is an important problem in micromanipulation. Cancelling or reduction this force is a great challenge. This force is directly linked to the surface chemical structure of the object and the gripper. We propose to predict this force between a structuring surface and a micro-object with a multisphere van der Waals force model. The surface was structured by polystyrene latex particles (PS particles) with radii from 35 to 2000 nm. The model was compared with experimental pulloff force measurement performed by AFM with different natures of spheres materials glued on the tipless. A wide range of applications, in the field of telecommunications, bioengineering, and more generaly speaking MEMS can be envisaged for these substrates.