Abstract
Electro-adhesion is the new technology for constructing gripping solutions that can be used for automation of pick and place of a variety of materials. Since the technology works on the principle of parallel plate capacitors, there is an inherent ability to store charge when high voltage is applied. This causes an increased release time of the substrate when the voltage is switched off. This paper addresses the issue of residual charge and suggests ways to overcome the same, so that the performance of the gripper can be improved in a cycle of pick and release. Also a new universal equation has been devised, that can be used to calculate the performance of any gripping solution. This equation has been used to define a desired outcome (K) that has been evaluated for different configurations of the suggested electro-adhesive gripper.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Hasegawa, Y.: Advances in robotics and automation: historical perspectives. In: Shimon, Y. (ed.) Springer Handbook of Automation. Springer, Berlin (2009)
Monkman, G.J., Hesse, S., Steinmann, R., Schunk, H.: Introduction to prehension technology. In: Robot Gripper. Wiley, Hoboken (2007)
Zhang, Z.: Modeling and analysis of electrostatic force for robot handling of fabric materials. IEEE Trans. Mechatron. 4(1), 39–49 (1999)
Trevena. D.H.: Static Fields in Electricity and Magnetism. Butterworths, London (1961)
Monkman, G.: Electroadhesive microgrippers. Ind. Robot Int. J. 30(4), 326–330 (2003)
Monkman, G.J.: Robot grippers for use with fibrous materials. Int. J. Robot. Res. 14(2), 144–151 (1995)
Shim, G.I., Sugai, H.: Dechuck operation of Coulomb type and Johnsen-Rahbek type of electrostatic chuck used in plasma processing. Plasma Fusion Res. 3, 051 (2008)
Asano, K., Hatakeyama, F., Yatsuzuka, K.: Fundamental study of an electrostatic chuck for silicon wafer handling. IEEE Trans. Ind. Appl. 38(3), 840–845 (2002)
Yoo, J., Choi, J.-S., Hong, S.-J., Kim, T.-H., Lee, S.J.: Finite element analysis of the attractive force on a Coulomb type electrostatic chuck. In: International Conference on Electrical Machines and Systems, pp. 1371–1375 (2007)
Monkman, G.J., Taylor, P.M., Farnworth, G.J.: Principles of electroadhesion in clothing robotics. Int. J. Clothing Sci. Technol. 1(3), 14–20 (1989)
Prahlad, H., Pelrine, R., Stanford, S., Marlow, J., Kornbluh, R.: Electroadhesive robots - wall climbing robots enabled by a novel, robust, and electrically controllable adhesion technology. In: IEEE International Conference on Robotics and Automation, pp. 3028–3033 (2008)
Yamamoto, A., Nakashima, T., Higuchi, T.: Wall climbing mechanisms using electrostatic attraction generated by flexible electrodes. In: International Symposium on Micro-Nano Mechatronics and Human Science, pp. 389–394 (2007)
Tellez, J.P.D, Krahn, J., Menon, C.: Characterization of electro-adhesives for robotic applications. In: IEEE International Conference on Robotics and Biomimetics (ROBIO) (2011)
Liu, R., Chen, R., Shen, H., Zhang, R.: Wall climbing robot using electrostatic force generated by flexible interdigital electrodes. In: International Conference on Robotics and Biomimetics (ROBIO), pp. 2031–2036 (2011)
Jeon, J.U., Higuchi, T.: Electrostatic suspension of dielectrics. In: IEEE Transactions on Industrial Electronics, pp. 938–946 (1998)
DuPoint. Kapton Polyimide Film. H-38479 datasheet (2014)
Electrogrip. Principles of Electrostatic Chucks. Electrogrip, Pittsburgh, USA, March 2013. http://electrogrip.com/Egrip2013Support/Principles1no3.pdf
Koh, K.H., Sreekumar, M., Ponnambalam, S.G.: Experimental investigation of the effect of the driving voltage of an electroadhesion actuator. Materials 7(7), 4963–4981 (2014)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Singh, J., Bingham, P.A., Penders, J., Manby, D. (2016). Effects of Residual Charge on the Performance of Electro-Adhesive Grippers. In: Alboul, L., Damian, D., Aitken, J. (eds) Towards Autonomous Robotic Systems. TAROS 2016. Lecture Notes in Computer Science(), vol 9716. Springer, Cham. https://doi.org/10.1007/978-3-319-40379-3_34
Download citation
DOI: https://doi.org/10.1007/978-3-319-40379-3_34
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-40378-6
Online ISBN: 978-3-319-40379-3
eBook Packages: Computer ScienceComputer Science (R0)