Visualization methods for understanding the dynamic electroadhesion phenomenon

Bamber, Thomas; Guo, Jianglong; Singh, Jaskaran; Bigharaz, Masoud; Petzing, Jon N.; Bingham, Paul A.; Justham, Laura; Penders, Jacques; Jackson, Michael R.

doi:10.1088/1361-6463/aa6be4

Cited by 28 publications

(30 citation statements)

References 11 publications

(20 reference statements)

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“…For those robotic applications, interdigital electrodes have been preferred due to its adhesion capability to dielectric surfaces. The behavior of interdigital electrodes in the context of electroadhesion has recently been studied extensively [8,11,12]. Electroadhesion has also been applied to surface haptic displays [13][14][15][16][17][18], in which electroadhesion modulates friction on a transparent electrode that covers an LCD surface, to create haptic effects.…”

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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Section: Introductionmentioning

confidence: 99%

Modeling and control of electroadhesion force in DC voltage

Nakamura

Yamamoto

2017

Robomech J

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“…In recent years, adhesive technologies using electrostatic force have been studied . Applying a high voltage to an electrode generates an attractive force between the electrode and the object . This mechanism is a kind of electroadhesion.…”

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confidence: 99%

“…Figure b schematically illustrates the electroadhesive device. Typically, an electroadhesive device contains two electrodes: one positive and one negative . We connected the electrodes to a high voltage power supply and embedded them in a dielectric material.…”

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confidence: 99%

Stretchable Suction Cup with Electroadhesion

Okuno

Shigemune

Kuwajima

et al. 2018

Adv Materials Technologies

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Suction cups are commonly used as adhering and grasping devices. This study proposes a methodology to expand the applicability of suction cups. A suction cup is developed with a soft pad which consists of stretchable electrodes and insulating layers that bond to the bottom of the main body of the suction cup. When the stretchable electrodes generate an electrostatic attraction between the electrodes and the object, the pad deforms, filling the gaps between the pad and the object. Due to the soft pad, the amount of incoming air is significantly reduced compared to a normal suction cup. Experiments reveal the effect of these features. Applying a high voltage to the stretchable electrodes increases the holding success ratio of the suction cup in the normal direction for smooth and rough surfaces due to the stretchable electrodes. Measuring the negative pressure inside the suction cup confirms that the electrostatic force maintains the adhesion force on both smooth and rough surfaces. Thus, the electrostatic force and stretchability of the soft pad greatly increase the adhesion force of the suction cup. Furthermore, the electrostatic force prevents a slip of the suction cup, which improves the performance of the suction cup.

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“…7 These advantages include enhanced adaptability, gentle/flexible handling, reduced complexity, and ultra-low energy consumption. 8 Electroadhesion is an electrically controllable and dynamic 8 electrostatic attraction between an electroadhesive pad and a substrate, with 33 variables influencing the interfacial electroadhesive force. 9 These variables include voltage 10,11 and material properties such as relative permittivity, [10][11][12] pad geometry, 13,14 surface texture, 15 and environmental conditions.…”

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confidence: 99%

Experimental study of a flexible and environmentally stable electroadhesive device

Guo

Bamber

Singh

et al. 2017

Applied Physics Letters

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Electroadhesion is a promising adhesion mechanism for robotics and material handling applications due to several distinctive advantages it has over existing technologies. These advantages include enhanced adaptability, gentle/flexible handling, reduced complexity, and ultra-low energy consumption. Unstable electroadhesive forces, however, can arise in ambient environments. Electroadhesive devices that can produce stable forces in changing environments are thus desirable. In this study, a flexible and environmentally stable electroadhesive device was designed and manufactured by conformally coating a layer of barium titanate dielectric on a chemically etched thin copper laminate. The results, obtained from an advanced electroadhesive “normal force” testing platform, show that only a relative difference of 5.94% in the normal force direction was observed. This was achieved when the relative humidity changed from 25% to 53%, temperature from 13.7 °C to 32.8 °C, and atmospheric pressure from 999 hPa to 1016.9 hPa. This environmentally stable electroadhesive device may promote the application of the electroadhesion technology.

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Visualization methods for understanding the dynamic electroadhesion phenomenon

Cited by 28 publications

References 11 publications

Modeling and control of electroadhesion force in DC voltage

Modeling and control of electroadhesion force in DC voltage

Stretchable Suction Cup with Electroadhesion

Experimental study of a flexible and environmentally stable electroadhesive device

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