Carbon Nanotubes (CNTs) and their application in biomedical engineering, space robotics, or material development are fast-paced revolutionary fields. The key parameter in defining the strength and failure mechanisms of any CNT is their adhesion force capacity to different substrates. Therefore, it is of high importance to find the optimum geometrical and environmental conditions that can optimize the adhesion force for different types of CNTs. This comprehensive work presents the study of the effects of CNTs’ angle, length, diameter, temperature, chirality, and atomic defects on adhesion force. To systematically measure their effect on the adhesion force of CNTs, the single wall nanotube is simulated between two ideal graphene sheets. The simulation results show that the adhesion force increases as the angle, length, and diameter of various CNTs increase. Additionally, the temperature of the nanotubes plays a major role in the adhesion force. Adhesion force is maximized when the temperature is 300 K. Temperature can become a limiting factor on different applications of CNTs due to the atomic resonance and changes of the potential energies in their atoms. This study investigates the effect of chirality on different types of nanotubes. The results present that chirality has a higher effect on armchair-type nanotubes compared to other types. Moreover, the adhesion force of a nanotube with vacancies decreases by increasing the number of lost atoms. Thus, the adhesion force in an ideal nanotube with (11, 9) chirality is 6.14 nN. This is higher by 28%, 35%, 42%, and 53% compared to mono-vacancy, di-vacancy, tri-vacancy, and Stone-Wales defects if these defects are placed in the middle of nanotubes. Although there are extensive studies done in this field, the novelty of our work relies on the fact that different types of CNTs with different types of vacancies (with different locations) for different geometries are studied with the objective of enhancing adhesion force between CNT and graphene sheets.