Embedded Files
The electro-adhesion exploits the electrostatic force (explained by Coulomb's law) between the material that serves as a substrate, and the electro-adhesive pad. The pad is generally made up of polymer coated electrodes or simply by conductive materials. When the charges are induced on the electrodes, the field between the electrodes polarizes the dielectric substrate causing electrostatic adhesion. It is essential to maintain the electro-adhesive pad and the surface in close contact, since the electrostatic forces decrease dramatically with the square of the distance. The basic idea is to create structures with two electrodes that have shape, size and distance requirements that ensure a high electrostatic field and that generate high adhesion forces on different types of material as wood, glass, paper, ceramics, concrete, etc.
Different kinds of structures have been tested after FEM simulations. Some initial trials have been done using inter-digited polyethylene coated structures. As this kind of structure showed very poor results, devices with parallel electrodes have been realized and tested. The final structures are obtained by thermal fusion of two polypropylene layers with a thickness of 25um, heated up to 120°C and pressed with high pressure with rollers on both sides of aluminum electrodes. The structure obtained has a high strength, flexibility and a high coefficient of static friction with the substrate on which it is applied. Using this kind of electro-adhesive pads, a tracked climbing robot has been developed and tested. For this application "Peeling" methodology of multiple electro-adhesive pads has been exploited. This methodology allows to further improve performances in terms of pad adhesion, total payload and travelling speed. The electro-adhesive track has been realised by fitting different pads on a flexible roller-chain.
Google Sites
Report abuse