Modeling and analysis of electrostatic adhesion force for climbing robot on dielectric wall materials

Mao, Jiubing; Lan, Qing; Zhang, Wanxiong; Xie, Li; Wang, Yong

doi:10.1051/epjap/2014140419

Cited by 14 publications

(4 citation statements)

References 20 publications

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“…The previous theoretical and simulation results have shown that the interfacial electroadhesive force is proportional to the square of the applied voltage. 10,11 The experiment results, especially the results from the recent work by Koh et al, 12 however, have consistently demonstrated the inappropriateness of this pure quadratic relationship. [12][13][14][15] Also, there is a lack of a standardised or recognised experiment setup and procedure to investigate this relationship, especially by taking the surface texture of the interfacial surfaces and environmental factors into consideration.…”

mentioning

confidence: 92%

Experimental study of relationship between interfacial electroadhesive force and applied voltage for different substrate materials

Guo

Bamber

Petzing

et al. 2017

Applied Physics Letters

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An experimental investigation into the relationship between the interfacial electroadhesive force and applied voltage up to 20 kV has been presented. Normal electroadhesive forces have been obtained between a double-electrode electroadhesive pad and three optically flat and different substrate materials: glass, acrylic, and polycarbonate. The results have shown that not all substrate materials are good for the generation of electroadhesive forces. Only 15.7 Pa has been obtained between the pad and the polycarbonate substrate under 20 kV, whereas 46.3 Pa and 123.4 Pa have been obtained on the acrylic and glass substrate, respectively. Based on the experimental data, empirical models, with an adjusted R-square value above 0.995 in all cases, have been obtained for the three substrates. However, it has not been possible to develop a general empirical model which is suitable for all substrates. This further indicates the need for a large quantity of experimental data to obtain robust empirical models for different substrate materials in order to reliably use electroadhesive technologies for material handling applications.

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mentioning

confidence: 92%

Experimental study of relationship between interfacial electroadhesive force and applied voltage for different substrate materials

Guo

Bamber

Petzing

et al. 2017

Applied Physics Letters

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“…Commonly used adhesion methods in WCR including magnetic [10][11][12], electrostatic [13,14], grippers [15,16], bio-inspired [17][18][19][20][21][22][23][24][25], as well as negative pressure [9,[26][27][28][29][30][31][32][33][34][35][36][37][38][39]. One commonly used method is magnetic adhesion, employing permanent magnets [10], electromagnets [11], or a hybrid adhesion with permanent and electromagnets [12] to adhere to metallic surfaces.…”

Section: Introductionmentioning

confidence: 99%

“…However, the characteristic of magnet restricts its operation environment to only ferromagnetic surface. Electrostatic adhesion shows adaptability to a wide range of surfaces [13], while its adhesive force and payload capacity are relatively low [14]. It also displays limited effectiveness on surfaces with low dielectric.…”

Section: Introductionmentioning

confidence: 99%

CREST: A low energy consumption wall climbing robot with passive impactive negative pressure adhesion

Zhu

2024

Eng. Res. Express

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Wall-climbing robot (WCR) displays a great potential in a wide range of tasks that are challenging or dangerous for human presence. Adhesion capacity and control mechanism are the key factors for climbing robots, as they directly affect the robot’s durability and power consumption in different climbing tasks. However, many WCRs adopting negative pressure adhesion rely on extra mechanism such as air compressor to achieve engagement and disengagement while overlooking the dimension and energy-consumption level of the robot. The high power consumption significantly reduces the robot’s operation duration and efficiency. To address this issue, we proposed a passive negative pressure adhesion mechanism together with an energy-efficient disengagement mechanism using the servo-string-plug sealing system that eliminates the requirement of air compressor or vacuum pump. We developed a compact bipedal climbing prototype named CREST (Climbing Robot with Efficient Suction Technology) that validated this design. Experiment showed that the CREST can perform climbing tasks in different environments including vertical surfaces and can transit between perpendicular planes with low power consumptions. It had a payload capacity up to 0.7 kg when attaching using one foot, the efficient payload capacity achieved 40 times the mass of the foot.

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“…Recently, the application areas of the electroadhesion have been expanding to robotics and haptics. In robotics field, researchers have proposed unique applications such as wall/ceiling-attachment for drones [3], soft grippers [4], and wall-climbing robots [5][6][7][8][9], as the electroadhesion can be realized with a simpler and lighter devices compared to other adhesion methods [5,6,10]. For those robotic applications, interdigital electrodes have been preferred due to its adhesion capability to dielectric surfaces.…”

Section: Introductionmentioning

confidence: 99%

Modeling and control of electroadhesion force in DC voltage

Nakamura

Yamamoto

2017

Robomech J

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In this paper, a new model for electroadhesion between two surface-insulated plates under DC electric field is presented and control of dynamic responses of electroadhesion force is discussed. Under DC electric field, even if the voltage difference between the plates is constant, electroadhesion force increases or decreases over time depending on the insulating materials. The increase had been explained by Johnsen-Rahbek (JR) model, but the decrease had not been focused or modeled by physically meaningful way. In addition, the previous models did not explicitly consider the mechanical behaviors of the electrodes, although the mechanical behaviors considerably affect the response. In this work, we introduced a new model that combines both electrical and mechanical behaviors. The electrical part, which is based on JR model, explained the force decrease under DC field, in addition to the force increase that had been explained using JR model. The mechanical part was represented by a combination of a spring and a damper. Numerical simulations using the model successfully reproduced characteristics behaviors of electroadhesion force, which include force decay under constant voltages and relatively smaller initial force. Using the inverse model, we carried out experiments to control dynamic responses of electroadhesion force, which successfully controlled force responses against pulse voltages. Through the experiments, we also showed the importance of the neutralization of surface charges for obtaining reproducible responses.

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Modeling and analysis of electrostatic adhesion force for climbing robot on dielectric wall materials

Cited by 14 publications

References 20 publications

Experimental study of relationship between interfacial electroadhesive force and applied voltage for different substrate materials

Experimental study of relationship between interfacial electroadhesive force and applied voltage for different substrate materials

CREST: A low energy consumption wall climbing robot with passive impactive negative pressure adhesion

Modeling and control of electroadhesion force in DC voltage

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