Electroadhesion is the electrostatic effect of astriction between two surfaces subjected to an electrical field. Applications include the retention of paper on plotter surfaces, astrictive robotic prehension (electrostatic grippers) etc. Clamping pressures in the range of 0.5 to 1.5 N/cm2 (0.8 to 2.3 psi) have been claimed.[1] Currently, the maximum lateral pressure achievable through electroadhesion is 85.6 N/cm2.[2]
An electroadhesive pad consists of conductive electrodes placed upon a polymer substrate. When alternate positive and negative charges are induced on adjacent electrodes, the resulting electric field sets up opposite charges on the surface that the pad touches, and thus causes electrostatic adhesion between the electrodes and the induced charges in the touched surface material.[3]
Electroadhesion can be loosely divided into two basic forms: that which concerns the prehension of electrically conducting materials where the general laws of capacitance hold (D = E ε) and that used with electrically insulating subjects where the more advanced theory of electrostatics (D = E ε + P) applies.[4] In practice, surface irregularities such as waviness, wrinkles, and roughness introduce air gaps. Some models account for these effects by incorporating a layer that represents these air gaps.[5]
Recently, electroadhesion has been garnering increasing attention from both academia and industry. It is being proposed for application in various fields, including gripping devices,[6] climbing robots,[7] VR haptics,[8] and variable stiffness mechanisms.[9]
Referencesedit
^"Electroadhesive Surface-Climbing Robots". SRI International. Retrieved 2013-07-01.
^Wei, Daiyue; Xiong, Quan; Dong, Jiufeng; Wang, Huacen; Liang, Xuanquan; Tang, Shiyu; Xu, Xinwei; Wang, Hongqiang; Wang, Hong (2023-06-01). "Electrostatic Adhesion Clutch with Superhigh Force Density Achieved by MXene-Poly(Vinylidene Fluoride–Trifluoroethylene–Chlorotrifluoroethylene) Composites". Soft Robotics. 10 (3): 482–492. doi:10.1089/soro.2022.0013. ISSN 2169-5172.
^"A brief history of Electroadhesion" (PDF). mechatronics.org. Retrieved 2014-01-06.
^Wang, Hongqiang. "Comprehensive Model of Laminar Jamming Variable Stiffness Driven by Electrostatic Adhesion_supp2-3319650.mp4". dx.doi.org. Retrieved 2024-04-24.
^Schaler, Ethan W.; Ruffatto, Donald; Glick, Paul; White, Victor; Parness, Aaron (September 2017). "An electrostatic gripper for flexible objects". 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. doi:10.1109/iros.2017.8202289.
^Wang, Hongqiang; Yamamoto, Akio (2017). "Analyses and solutions for the buckling of thin and flexible electrostatic inchworm climbing robots". IEEE Transactions on Robotics. 33 (4): 889–900.
^Chen, Cheng; Fan, Dongliang; Ren, Hongliang; Wang, Hongqiang (2023). "Comprehensive Model of Laminar Jamming Variable Stiffness Driven by Electrostatic Adhesion". IEEE/ASME Transactions on Mechatronics.
Further readingedit
Liang X, Sun Y, Wang H, et al. Delicate manipulations with compliant mechanism and electrostatic adhesion[C]//2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob). IEEE, 2016: 401-406.
Wang H, Yamamoto A, Higuchi T. A crawler climbing robot integrating electroadhesion and electrostatic actuation[J]. International Journal of Advanced Robotic Systems, 2014, 11(12): 191.
Xie G, Wang W, Zhao X, et al. Low-voltage electroadhesive pad with thin insulation layer fabricated by parylene deposition[C]//2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER). IEEE, 2019: 197-202.
Wang H, Yamamoto A, Higuchi T. Electrostatic-motor-driven electroadhesive robot[C]//2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2012: 914-919.
WANG H, YAMAMOTO A. Peel force of electrostatic adhesion in crawler-type electrostatic climbing robots[J]. Journal of the Japan Society of Applied Electromagnetics and Mechanics, 2015, 23(3): 498-503.
Monkman G.J., An Analysis of Astrictive Prehension, International Journal of Robotics Research 16(1), 1997.
Monkman G.J., Robot Grippers for use with Fibrous Materials, International Journal of Robotics Research 14(2), 1995.
Monkman G.J., Compliant Robotic Devices and Electroadhesion, Robotica 10(2), 1992.
Monkman G.J., Taylor P.M. & Farnworth G.J., Principles of Electroadhesion in Clothing Technology, International Journal of Clothing Science & Technology 1(3), 1989.
Guo J., et al., Electroadhesion Technologies for Robotics: A Comprehensive Review, IEEE Transactions on Robotics 36(2), 2020.
Guo J., Bamber T., et al, Optimization and experimental verification of coplanar interdigital electroadhesives, J. Phys. D: Appl. Phys. 49 415304, 2016.
Guo J., Bamber T., et al, Investigation of relationship between interfacial electroadhesive force and surface texture, J. Phys. D: Appl. Phys. 49 035303, 2016.
Bamber T., Guo J., et al., Visualization methods for understanding the dynamic electroadhesion phenomenon, J. Phys. D: Appl. Phys. 50 205304, 2017
Guo J., Bamber T., et al, Toward Adaptive and Intelligent Electroadhesives for Robotic Material Handling, EEE ROBOTICS AND AUTOMATION LETTERS, VOL. 2, NO. 2, APRIL 2017
Guo J., Bamber T., et al, Geometric optimisation of electroadhesive actuators based on 3D electrostatic simulation and its experimental verification, IFAC-PapersOnLine, 2016
Guo J., Bamber T., et al, Experimental study of relationship between interfacial electroadhesive force and applied voltage for different substrate materials, Applied Physics Letters, 2017
Guo J., Bamber T., et al, Symmetrical electroadhesives independent of different interfacial surface conditions, Applied Physics Letters, 2017
External linksedit
Electroadhesive robotic climbers 2009-08-26 at the Wayback Machine
Electroadhesives for MAV perching
Electroadhesives, combined with artificial muscles, for skin-like robotic devices including soft conveyors and crawlers
SUSTech AAR Laboratory
May 07, 2024
electroadhesion, electrostatic, effect, astriction, between, surfaces, subjected, electrical, field, applications, include, retention, paper, plotter, surfaces, astrictive, robotic, prehension, electrostatic, grippers, clamping, pressures, range, have, been, c. Electroadhesion is the electrostatic effect of astriction between two surfaces subjected to an electrical field Applications include the retention of paper on plotter surfaces astrictive robotic prehension electrostatic grippers etc Clamping pressures in the range of 0 5 to 1 5 N cm2 0 8 to 2 3 psi have been claimed 1 Currently the maximum lateral pressure achievable through electroadhesion is 85 6 N cm2 2 An electroadhesive pad consists of conductive electrodes placed upon a polymer substrate When alternate positive and negative charges are induced on adjacent electrodes the resulting electric field sets up opposite charges on the surface that the pad touches and thus causes electrostatic adhesion between the electrodes and the induced charges in the touched surface material 3 Electroadhesion can be loosely divided into two basic forms that which concerns the prehension of electrically conducting materials where the general laws of capacitance hold D E e and that used with electrically insulating subjects where the more advanced theory of electrostatics D E e P applies 4 In practice surface irregularities such as waviness wrinkles and roughness introduce air gaps Some models account for these effects by incorporating a layer that represents these air gaps 5 Recently electroadhesion has been garnering increasing attention from both academia and industry It is being proposed for application in various fields including gripping devices 6 climbing robots 7 VR haptics 8 and variable stiffness mechanisms 9 References edit Electroadhesive Surface Climbing Robots SRI International Retrieved 2013 07 01 Wei Daiyue Xiong Quan Dong Jiufeng Wang Huacen Liang Xuanquan Tang Shiyu Xu Xinwei Wang Hongqiang Wang Hong 2023 06 01 Electrostatic Adhesion Clutch with Superhigh Force Density Achieved by MXene Poly Vinylidene Fluoride Trifluoroethylene Chlorotrifluoroethylene Composites Soft Robotics 10 3 482 492 doi 10 1089 soro 2022 0013 ISSN 2169 5172 Electroadhesion SRI International Retrieved 2014 05 08 A brief history of Electroadhesion PDF mechatronics org Retrieved 2014 01 06 Wang Hongqiang Comprehensive Model of Laminar Jamming Variable Stiffness Driven by Electrostatic Adhesion supp2 3319650 mp4 dx doi org Retrieved 2024 04 24 Schaler Ethan W Ruffatto Donald Glick Paul White Victor Parness Aaron September 2017 An electrostatic gripper for flexible objects 2017 IEEE RSJ International Conference on Intelligent Robots and Systems IROS IEEE doi 10 1109 iros 2017 8202289 Wang Hongqiang Yamamoto Akio 2017 Analyses and solutions for the buckling of thin and flexible electrostatic inchworm climbing robots IEEE Transactions on Robotics 33 4 889 900 Xiong Quan Liang Xuanquan Wei Daiyue Wang Huacen Zhu Renjie Wang Ting Mao Jianjun Wang Hongqiang 2022 So EAGlove VR haptic glove rendering softness sensation with force tunable electrostatic adhesive brakes IEEE Transactions on Robotics 38 6 3450 3462 Chen Cheng Fan Dongliang Ren Hongliang Wang Hongqiang 2023 Comprehensive Model of Laminar Jamming Variable Stiffness Driven by Electrostatic Adhesion IEEE ASME Transactions on Mechatronics Further reading editLiang X Sun Y Wang H et al Delicate manipulations with compliant mechanism and electrostatic adhesion C 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics BioRob IEEE 2016 401 406 Wang H Yamamoto A Higuchi T A crawler climbing robot integrating electroadhesion and electrostatic actuation J International Journal of Advanced Robotic Systems 2014 11 12 191 Xie G Wang W Zhao X et al Low voltage electroadhesive pad with thin insulation layer fabricated by parylene deposition C 2019 IEEE 9th Annual International Conference on CYBER Technology in Automation Control and Intelligent Systems CYBER IEEE 2019 197 202 Wang H Yamamoto A Higuchi T Electrostatic motor driven electroadhesive robot C 2012 IEEE RSJ International Conference on Intelligent Robots and Systems IEEE 2012 914 919 WANG H YAMAMOTO A Peel force of electrostatic adhesion in crawler type electrostatic climbing robots J Journal of the Japan Society of Applied Electromagnetics and Mechanics 2015 23 3 498 503 Monkman G J Hesse S Steinmann R amp Schunk H Robot Grippers Wiley VCH 2007 Monkman G J Electroadhesive Microgrippers Assembly Automation 30 4 2003 Monkman G J Workpiece Retention during Machine Processing Assembly Automation 20 1 2000 Monkman G J An Analysis of Astrictive Prehension International Journal of Robotics Research 16 1 1997 Monkman G J Robot Grippers for use with Fibrous Materials International Journal of Robotics Research 14 2 1995 Monkman G J Compliant Robotic Devices and Electroadhesion Robotica 10 2 1992 Monkman G J Taylor P M amp Farnworth G J Principles of Electroadhesion in Clothing Technology International Journal of Clothing Science amp Technology 1 3 1989 Guo J et al Electroadhesion Technologies for Robotics A Comprehensive Review IEEE Transactions on Robotics 36 2 2020 Guo J Bamber T et al Optimization and experimental verification of coplanar interdigital electroadhesives J Phys D Appl Phys 49 415304 2016 Guo J Bamber T et al Investigation of relationship between interfacial electroadhesive force and surface texture J Phys D Appl Phys 49 035303 2016 Bamber T Guo J et al Visualization methods for understanding the dynamic electroadhesion phenomenon J Phys D Appl Phys 50 205304 2017 Guo J Bamber T et al Toward Adaptive and Intelligent Electroadhesives for Robotic Material Handling EEE ROBOTICS AND AUTOMATION LETTERS VOL 2 NO 2 APRIL 2017 Guo J Bamber T et al Geometric optimisation of electroadhesive actuators based on 3D electrostatic simulation and its experimental verification IFAC PapersOnLine 2016 Guo J Bamber T et al Experimental study of relationship between interfacial electroadhesive force and applied voltage for different substrate materials Applied Physics Letters 2017 Guo J Bamber T et al Symmetrical electroadhesives independent of different interfacial surface conditions Applied Physics Letters 2017External links editElectroadhesive robotic climbers Archived 2009 08 26 at the Wayback Machine Electroadhesives for MAV perching Electroadhesives combined with artificial muscles for skin like robotic devices including soft conveyors and crawlers SUSTech AAR Laboratory Retrieved from https en wikipedia org w index php title Electroadhesion amp oldid 1220533775, wikipedia, wiki, book, books, library,
