Electroadhesion is the
electrostatic
Electrostatics is a branch of physics that studies electric charges at rest ( static electricity).
Since classical times, it has been known that some materials, such as amber, attract lightweight particles after rubbing. The Greek word for amb ...
effect of astriction between two surfaces subjected to an
electrical field
An electric field (sometimes E-field) is the physical field that surrounds electrically charged particles and exerts force on all other charged particles in the field, either attracting or repelling them. It also refers to the physical field f ...
. 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/cm
2 (0.8 to 2.3
psi
Psi, PSI or Ψ may refer to:
Alphabetic letters
* Psi (Greek) (Ψ, ψ), the 23rd letter of the Greek alphabet
* Psi (Cyrillic) (Ѱ, ѱ), letter of the early Cyrillic alphabet, adopted from Greek
Arts and entertainment
* "Psi" as an abbreviatio ...
) have been claimed.
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.
Electroadhesion can be loosely divided into two basic forms: that which concerns the prehension of electrically conducting materials where the general laws of
capacitance
Capacitance is the capability of a material object or device to store electric charge. It is measured by the change in charge in response to a difference in electric potential, expressed as the ratio of those quantities. Commonly recognized ar ...
hold (D = E ε) and that used with
electrically insulating subjects where the more advanced theory of electrostatics (D = E ε + P) applies.
[{{cite web, url=https://hps.hs-regensburg.de/~mechatronics/r&d/rob/eag/electroadhesion.pdf, title=A brief history of Electroadhesion, publisher= mechatronics.org, accessdate=2014-01-06]
References
Further reading
* Monkman G.J., Hesse S., Steinmann R. & 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. & 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 links
Electroadhesive robotic climbersElectroadhesives for MAV perching
Electrostatics
Robotics