Hybrid electrostatic and elastomer adhesion mechanism for wall climbing robot

Koh, Keng Huat; Muthuswamy, Sreekumar; Ponnambalam, S. G.

doi:10.1016/j.mechatronics.2016.02.001

Cited by 60 publications

(32 citation statements)

References 38 publications

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“…8(a)]. The peeling effect significantly weakens the electroadhesive force in a similar way as zipping mechanism [11]. Especially, as the near-field electroadhesive force only penetrates tens of micrometers, once a part of a page is disengaged, the detached part is more unlikely to be reattached than in the case with the electroadhesive force that has large penetration depth.…”

Section: A Electroadhesive Padmentioning

confidence: 97%

“…It is energy-efficient, does not involve noise and vibration, and is applicable regardless of the material properties of the object to be attached. The versatility of the electroadhesive force led to the development of wall-climbing robots [9][10][11], and perching mechanism of a robotic insect [12] in the field of robotics. For manipulation tasks, it is also applied to manipulation of arbitrary objects [13], fabrics [14], carbon fibers [15], unbound sheets of papers [16], and silicon wafers [17].…”

Section: B Electroadhesive Forcementioning

confidence: 99%

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Automatic page-turning mechanism with near-field electroadhesive force for linearly correctable imaging

Lee

Jeon

Cha

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-Recently, demand for digitization of books has increased in tandem with the spread of portable devices for electronic books. However, in a number of invented bookscanning devices, pages are turned manually by users, or pricey three-dimensional cameras are needed for image correction. Our automatic page-turning mechanism employs near-field electroadhesive force to turn a single page. As the near-field electroadhesive force on the closest sheet of paper is far stronger than that on the second, only a single sheet of paper can be lifted. Using Fourier series expansion, we prove that regardless of the geometrical configuration of electrodes, the force ratio on the closest to the second is dominantly controlled by the period of the configuration. Based on this, a novel electrode configuration is designed aiming to give higher force ratio than the conventional interdigital patterns. The advantage of our mechanism in image processing is that perspective correction is compatible with our mechanism, hence not requiring devices for acquiring 3-D information to reconstruct images. Our automatic page-turning mechanism with a fair success rate and the reduced number of components shows that it is a promising method for automatic low-cost book-scanning devices.

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Section: A Electroadhesive Padmentioning

confidence: 97%

Section: B Electroadhesive Forcementioning

confidence: 99%

Automatic page-turning mechanism with near-field electroadhesive force for linearly correctable imaging

Lee

Jeon

Cha

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

show abstract

Section: B Electroadhesive Forcementioning

confidence: 99%

Automatic Page-Turning Mechanism with Near-Field Electroadhesive Force for Linearly Correctable Imaging

Lee¹

2016

Preprint

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Recently, demand for digitization of books has increased in tandem with thespread of portable devices for electronic books. However, in a number ofinvented book-scanning devices, pages are turned manually by users, orpricey three-dimensional cameras are needed for image correction. Ourautomatic page-turning mechanism employs near-field electroadhesive forceto turn a single page. As the near-field electroadhesive force on theclosest sheet of paper is far stronger than that on the second, only asingle sheet of paper can be lifted. Using Fourier series expansion, weprove that regardless of the geometrical configuration of electrodes, theforce ratio on the closest to the second is dominantly controlled by theperiod of the configuration. Based on this, a novel electrode configurationis designed aiming to give higher force ratio than the conventionalinterdigital patterns. The advantage of our mechanism in image processingis that perspective correction is compatible with our mechanism, hence notrequiring devices for acquiring 3-D information to reconstruct images. Ourautomatic page-turning mechanism with a fair success rate and the reducednumber of components shows that it is a promising method for automaticlow-cost book-scanning devices.

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“…Recently, the van der Waals force 8,9,10 inspired by geckos has become a research hotspot, but it is usually used in high quality conditions since it demands high degrees of surface finish and cleanness. Electrostatic adhesion method 11,12 requires relatively low conditions for wall surface, which can be used on various wall surfaces. However, the adhesion force of this method is quite weak.…”

Section: Introductionmentioning

confidence: 99%

A gecko-inspired wall-climbing robot based on vibration suction mechanism

Chen

Qiu

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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A prototype of gecko-inspired wall-climbing robot based on vibration suction mechanism is proposed. The robot adheres to the wall surface based on a novel negative pressure technology named as vibration suction. According to the theory of vibration suction, the vibration suction module is designed as the foot of the wall-climbing robot. In addition, the tripod gait of geckos is taken into account in the motion planning of the robot. By combining the unique properties of vibration suction mechanism and the tripod gait of the geckos, several advantages including stable motion, certain load capacity, anti-overturning ability, and good suction force to the wall surfaces are obtained. The climbing ability is verified by the experiment on the surface of the glass, which manifests that the robot can climb vertically at the highest speed of 13.75 mm/s with a spot turning at the single maximum turning angle of 20°. Potential applications of this proposed climbing robot in some fields include repair, construction, cleaning, and exploration.

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Hybrid electrostatic and elastomer adhesion mechanism for wall climbing robot

Cited by 60 publications

References 38 publications

Automatic page-turning mechanism with near-field electroadhesive force for linearly correctable imaging

Automatic page-turning mechanism with near-field electroadhesive force for linearly correctable imaging

Automatic Page-Turning Mechanism with Near-Field Electroadhesive Force for Linearly Correctable Imaging

A gecko-inspired wall-climbing robot based on vibration suction mechanism

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