An analytical model for electrostatic adhesive dynamics on dielectric substrates

Chen, Rui; Huang, Yao; Tang, Qian

doi:10.1080/01694243.2016.1249689

Cited by 27 publications

(17 citation statements)

References 14 publications

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“…4. with a silica glass surface (from [17]). The glass surface has ǫ o 1 = 4.1 and electric resitivity ρ = 10 11 Ωm.…”

Section: Numerical Resultsmentioning

confidence: 99%

“…The electroadhesive force can be derived by the Maxwell stress tensor method [13][14][15][16][17][18]21]. We calculate the electroadhesive force between the two solids when the surfaces are separated by a distance u (see Fig.…”

Section: Electroadhesion With a Constant Air-gapmentioning

confidence: 99%

“…In these cases the adhesive pad must be built from an elastically soft material in order to increase the contact area and hence the friction force. Modeling of electroadhesive forces has been based on the parallel-plate-capacitor structure [12][13][14][15] when an electroadhesion pad is contacting a conductive or semiconductive substrate material, and the coplanar-platecapacitor structure [16][17][18] when an electroadhesion pad is contacting an insulating substrate material.…”

Section: Introductionmentioning

confidence: 99%

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Electroadhesion for soft adhesive pads and robotics: theory and numerical results

Persson

Guo

2019

Soft Matter

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Soft adhesive pads are needed for many robotics applications, and one approach is based on electroadhesion. Here we present a general analytic model and numerical results for electroadhesion for soft solids with arbitrary time-dependent applied voltage, and arbitrary dielectric response of the solids, and including surface roughness. We consider the simplest coplanar-plate-capacitor model with a periodic array of conducting strips located close to the surface of the adhesive pad, and discuss the optimum geometrical arrangement to obtain the maximal electroadhesion force. For surfaces with roughness the (non-contact) gap between the solids will strongly influence the electroadhesion, and we show how the electroadhesion force can be calculated using a contact mechanics theory for elastic solids. The theory and models we present can be used to optimize the design of adhesive pads for robotics application.

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“…4. with a silica glass surface (from [17]). The glass surface has ǫ o 1 = 4.1 and electric resitivity ρ = 10 11 Ωm.…”

Section: Numerical Resultsmentioning

confidence: 99%

Section: Electroadhesion With a Constant Air-gapmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Electroadhesion for soft adhesive pads and robotics: theory and numerical results

Persson

Guo

2019

Soft Matter

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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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“…Electroadhesion, initiated by high-electric-field induced polarization or electrostatic induction, is a dynamic, electrically controllable, and interfacial electrostatic attraction between an electroadhesive actuator and a substrate. [11][12][13][14][15] There are 33 known variables influencing the interfacial adhesive force generated between the electroadhesive pad and the substrate, including voltage, electrode patterns, material properties, environmental conditions, and interfacial surface texture. 11,12 Electrode pattern or electrode geometry is one of the main factors influencing the obtainable electroadhesive forces.…”

mentioning

confidence: 99%

Symmetrical electroadhesives independent of different interfacial surface conditions

Guo

Hovell

Bamber

et al. 2017

Applied Physics Letters

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Current electroadhesive actuators cannot produce stable electroadhesive forces on the same substrate with different interfacial surface interactions. It is, therefore, desirable to develop electroadhesive actuators that can generate stable adhesive forces on different surface conditions. A symmetrical electroadhesive pad that is independent of different interfacial scratch directions is developed and presented. A relative difference of only 6.4% in the normal force direction was observed when the electroadhesive was facing an aluminium plate with surface scratch directions of 0°, 45°, 90°, and 135°. This step-change improvement may significantly promote the application of electroadhesion technology. In addition, this manifests that significant performance improvements could be achieved via further investigations into electroadhesive designs.

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An analytical model for electrostatic adhesive dynamics on dielectric substrates

Cited by 27 publications

References 14 publications

Electroadhesion for soft adhesive pads and robotics: theory and numerical results

Electroadhesion for soft adhesive pads and robotics: theory and numerical results

Modeling and control of electroadhesion force in DC voltage

Symmetrical electroadhesives independent of different interfacial surface conditions

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