Modeling and control of electroadhesion force in DC voltage

Abstract 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, electroadh...

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Main Authors: Taku Nakamura, Akio Yamamoto
Format: Article
Language:English
Published: SpringerOpen 2017-06-01
Series:ROBOMECH Journal
Subjects:
Online Access:http://link.springer.com/article/10.1186/s40648-017-0085-3
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author Taku Nakamura
Akio Yamamoto
author_facet Taku Nakamura
Akio Yamamoto
author_sort Taku Nakamura
collection DOAJ
description Abstract 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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spelling doaj.art-ea4aeb2bbf354231b8cb5ff369bcac3b2022-12-22T02:43:03ZengSpringerOpenROBOMECH Journal2197-42252017-06-014111010.1186/s40648-017-0085-3Modeling and control of electroadhesion force in DC voltageTaku Nakamura0Akio Yamamoto1Department of Precision Engineering, The University of TokyoDepartment of Precision Engineering, The University of TokyoAbstract 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.http://link.springer.com/article/10.1186/s40648-017-0085-3Electrostatic adhesionBilayer dielectricInterface chargeJohnsen–Rahbek effectBuilt-in sensorHaptic display
spellingShingle Taku Nakamura
Akio Yamamoto
Modeling and control of electroadhesion force in DC voltage
ROBOMECH Journal
Electrostatic adhesion
Bilayer dielectric
Interface charge
Johnsen–Rahbek effect
Built-in sensor
Haptic display
title Modeling and control of electroadhesion force in DC voltage
title_full Modeling and control of electroadhesion force in DC voltage
title_fullStr Modeling and control of electroadhesion force in DC voltage
title_full_unstemmed Modeling and control of electroadhesion force in DC voltage
title_short Modeling and control of electroadhesion force in DC voltage
title_sort modeling and control of electroadhesion force in dc voltage
topic Electrostatic adhesion
Bilayer dielectric
Interface charge
Johnsen–Rahbek effect
Built-in sensor
Haptic display
url http://link.springer.com/article/10.1186/s40648-017-0085-3
work_keys_str_mv AT takunakamura modelingandcontrolofelectroadhesionforceindcvoltage
AT akioyamamoto modelingandcontrolofelectroadhesionforceindcvoltage