Robotic arm using flexible electrostatic film actuators

Yamamoto, Akio; Nishijima, Takashi; Higuchi, Toshiro; Inaba, Akio

doi:10.1109/isie.2003.1267948

Cited by 6 publications

(11 citation statements)

References 8 publications

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“…Furthermore, considering the plot on Figure 5, the values on Table 3, as well as (25), we can also remark on the impact of the higher order harmonic components of the capacitance coefficients in thrust force production. The 3rd capacitance harmonic is responsible for the existence of the sin (4θ x ± φ a ) terms of thrust force, given their multiplicative nature.…”

Section: Force Ripple Analysismentioning

confidence: 86%

“…Figure 5 shows a decomposition of (25), evidencing the impact of each harmonic component of the force, over one displacement period of the motor. Each of the dashed lines in this plot corresponds to one term from (25), with the solid line corresponding to the total output. The effect of the 4th harmonics is clear, with the 8th harmonic essentially negligible.…”

Section: Force Ripple Analysismentioning

confidence: 99%

“…However, one that we can analyze is the variation with the ratio between slider and stator voltage amplitude, or voltage ratio. This ratio is expected to affect force ripple, because the different harmonic components that comprise thrust force are affected differently by each of the voltage amplitudes, as per (25).…”

Section: Force Ripple Analysismentioning

confidence: 99%

“…Movement is achieved by the electrostatic interaction between electrodes in different sets of films. These motors have been shown to produce considerable force [24] and potential for integration in robotic actuation [25]. Their high performance, coupled with manufacturing using flexible substrates and inherent low weight, makes them strong candidates for actuating robotic mechanisms in the future.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

An Extended Model for Ripple Analysis of 2–4 Phase Resonant Electrostatic Induction Motors

et al. 2021

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Electrostatic motors are promising forms of actuation for future robotic devices. The study of their different implementations should accelerate their adoption. Current models for resonant electrostatic induction motors were found not to be able to properly describe their behavior, namely, with regard to changes with position. This paper reports a new analytical model for these motors, aiming to address this issue. The model is based on identification of all capacitance harmonics, through a simplified method. Using these, equations for different motor parameters, notably, thrust force, were obtained and compared to previous literature. The new equations model position dependent properties, such as force ripple. The outputs of this model were validated through experimentation with a prototype, with the results confirming the new model better describes motor behavior. An analysis into how to decrease this ripple was also discussed and tested. We concluded that the use of a higher number of harmonics resulted in a much more accurate model, capable of adequately characterizing motor outputs with changes in position.

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Section: Force Ripple Analysismentioning

confidence: 86%

Section: Force Ripple Analysismentioning

confidence: 99%

Section: Force Ripple Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

An Extended Model for Ripple Analysis of 2–4 Phase Resonant Electrostatic Induction Motors

et al. 2021

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“…For example, the film motor called dual excitation multiphase electrostatic drive (DEMED) showed superior output performance (e.g. output performance of 230 W/kg, maximum speed of over 1 m/s) and some unique characteristics, such as mechanical N. Yamashita flexibility, and thus are promising for various mechatronic applications [10], [11].…”

Section: Introductionmentioning

confidence: 99%

Evaluation of an Electrostatic Film Motor Driven by Two-Four-Phase AC Voltage and Electrostatic Induction

Yamashita

Yamamoto

Gondo

et al. 2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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This paper describes a voltage-induction type electrostatic film motor that operates by feeding electric power to the slider by electrostatic induction. In electrostatic film motors, feeding power to slider is important for better output capability and positioning performance. However, the power feeding using electric cables sometimes cause mechanical disturbance to the motor motions. In the new electrostatic motor, the power to the slider is fed by electrostatic induction, thus removing electric cables that can cause mechanical disturbances. The proposed motor has a two-phase electrode in the slider and a four-phase electrode in the stator. In addition, both stator and slider have the induction electrodes so that electric power is transferred to the slider through the induction electrodes. The paper first analyzes the thrust force characteristics of the proposed drivingelectrode configuration, and then analyzes the characteristics of voltage induction, both based on capacitance-network analysis. The analyzed result is verified by experiments that showed good agreements with the provided analysis.

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Next-Generation Actuators Leading Breakthroughs

2010

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Robotic arm using flexible electrostatic film actuators

Cited by 6 publications

References 8 publications

An Extended Model for Ripple Analysis of 2–4 Phase Resonant Electrostatic Induction Motors

An Extended Model for Ripple Analysis of 2–4 Phase Resonant Electrostatic Induction Motors

Evaluation of an Electrostatic Film Motor Driven by Two-Four-Phase AC Voltage and Electrostatic Induction

Next-Generation Actuators Leading Breakthroughs

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