De-electroadhesion of Flexible and Lightweight Materials: An Experimental Study
Electroadhesion (EA) is an emerging prehension method with wide application in robotics, including object handling, component assembly, and robotic locomotion. A major challenge with EA is the development of novel solutions for speeding up the release process, where residual charges inhibit release....
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-07-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/9/14/2796 |
| _version_ | 1811280716270403584 |
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| author | Chongjing Cao Xing Gao Jianglong Guo Andrew Conn |
| author_facet | Chongjing Cao Xing Gao Jianglong Guo Andrew Conn |
| author_sort | Chongjing Cao |
| collection | DOAJ |
| description | Electroadhesion (EA) is an emerging prehension method with wide application in robotics, including object handling, component assembly, and robotic locomotion. A major challenge with EA is the development of novel solutions for speeding up the release process, where residual charges inhibit release. In this work, a comprehensive study on the effects of EA base substrate and object material types on de-electroadhesion time is presented. Experimental results show that the de-electroadhesion speed is highly dependent on the base substrate and object material type. There is a strong inverse correlation between dielectric constant and de-electroadhesion rate, while a higher molecular weight demonstrates slower dielectric relaxation and hence release time. These findings will enable the design of cost-effective EA-based robotic end effectors with rapid release capabilities. EA grippers with quicker de-adhesion abilities could significantly improve the overall throughput of assembly lines where material pick-and-place tasks are involved. In addition, more efficient and faster locomotion speeds could be achieved for crawling or climbing robots where EA is employed as their active adhesion and de-adhesion feet. |
| first_indexed | 2024-04-13T01:19:45Z |
| format | Article |
| id | doaj.art-3788d024dbc94484b64bc9af0ce8c3bd |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-04-13T01:19:45Z |
| publishDate | 2019-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-3788d024dbc94484b64bc9af0ce8c3bd2022-12-22T03:08:48ZengMDPI AGApplied Sciences2076-34172019-07-01914279610.3390/app9142796app9142796De-electroadhesion of Flexible and Lightweight Materials: An Experimental StudyChongjing Cao0Xing Gao1Jianglong Guo2Andrew Conn3SoftLab, Bristol Robotics Laboratory, Bristol BS16 1QY, UKShenzhen Institute of Advanced Technology, China Academy of Sciences, Shenzhen 518055, ChinaSoftLab, Bristol Robotics Laboratory, Bristol BS16 1QY, UKSoftLab, Bristol Robotics Laboratory, Bristol BS16 1QY, UKElectroadhesion (EA) is an emerging prehension method with wide application in robotics, including object handling, component assembly, and robotic locomotion. A major challenge with EA is the development of novel solutions for speeding up the release process, where residual charges inhibit release. In this work, a comprehensive study on the effects of EA base substrate and object material types on de-electroadhesion time is presented. Experimental results show that the de-electroadhesion speed is highly dependent on the base substrate and object material type. There is a strong inverse correlation between dielectric constant and de-electroadhesion rate, while a higher molecular weight demonstrates slower dielectric relaxation and hence release time. These findings will enable the design of cost-effective EA-based robotic end effectors with rapid release capabilities. EA grippers with quicker de-adhesion abilities could significantly improve the overall throughput of assembly lines where material pick-and-place tasks are involved. In addition, more efficient and faster locomotion speeds could be achieved for crawling or climbing robots where EA is employed as their active adhesion and de-adhesion feet.https://www.mdpi.com/2076-3417/9/14/2796electroadhesionde-adhesionflexible and lightweight materials |
| spellingShingle | Chongjing Cao Xing Gao Jianglong Guo Andrew Conn De-electroadhesion of Flexible and Lightweight Materials: An Experimental Study Applied Sciences electroadhesion de-adhesion flexible and lightweight materials |
| title | De-electroadhesion of Flexible and Lightweight Materials: An Experimental Study |
| title_full | De-electroadhesion of Flexible and Lightweight Materials: An Experimental Study |
| title_fullStr | De-electroadhesion of Flexible and Lightweight Materials: An Experimental Study |
| title_full_unstemmed | De-electroadhesion of Flexible and Lightweight Materials: An Experimental Study |
| title_short | De-electroadhesion of Flexible and Lightweight Materials: An Experimental Study |
| title_sort | de electroadhesion of flexible and lightweight materials an experimental study |
| topic | electroadhesion de-adhesion flexible and lightweight materials |
| url | https://www.mdpi.com/2076-3417/9/14/2796 |
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