Characterization of electro-adhesives for robotic applications

Recent research in the field of climbing robots indicates that electro-adhesion may provide an attachment method for robots to adhere to a wide range of materials. This study compares the use of several different styles and shapes of electrodes while maintaining a similar electrode area. Electro-adhesion shear force testing was performed on electro-adhesive samples made with four different insulating polymers. These results are compared in order to indicate the best type of insulating material for electro-adhesives. Shear force adhesion tests are carried out on and compared for a wide range of common building materials.

[1]  Seth Copen Goldstein,et al.  Electrostatic latching for inter-module adhesion, power transfer, and communication in modular robots , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Jason Jianjun Gu,et al.  A Wall Climbing Robot for Oil Tank Inspection , 2006, 2006 IEEE International Conference on Robotics and Biomimetics.

[3]  Jianwei Zhang,et al.  A novel modular climbing caterpillar using low-frequency vibrating passive suckers , 2007, 2007 IEEE/ASME international conference on advanced intelligent mechatronics.

[4]  Jeonghoon Yoo,et al.  Finite element analysis of the attractive force on a Coulomb type electrostatic chuck , 2007, 2007 International Conference on Electrical Machines and Systems (ICEMS).

[5]  Metin Sitti,et al.  Tankbot: A Palm-size, Tank-like Climbing Robot using Soft Elastomer Adhesive Treads , 2010, Int. J. Robotics Res..

[6]  P. M. Taylor,et al.  PRINCIPLES OF ELECTROADHESION IN CLOTHING ROBOTICS , 1989 .

[7]  G. Muscato,et al.  The Alicia/sup 3/ climbing robot: a three-module robot for automatic wall inspection , 2006, IEEE Robotics & Automation Magazine.

[8]  Jianwei Zhang,et al.  Sky Cleaner 3: a real pneumatic climbing robot for glass-wall cleaning , 2006, IEEE Robotics & Automation Magazine.

[9]  Hideo Sugai,et al.  Dechuck Operation of Coulomb Type and Johnsen-Rahbek Type of Electrostatic Chuck Used in Plasma Processing , 2008 .

[10]  Gareth J. Monkman,et al.  Robot Grippers for Use With Fibrous Materials , 1995, Int. J. Robotics Res..

[11]  Jianzhong Shang,et al.  Design of a climbing robot for inspecting aircraft wings and fuselage , 2007, Ind. Robot.

[12]  Gareth J. Monkman.  Electroadhesive microgrippers , 2003, Ind. Robot.

[13]  Kazutoshi Asano,et al.  Fundamental study of an electrostatic chuck for silicon wafer handling , 1997, IAS '97. Conference Record of the 1997 IEEE Industry Applications Conference Thirty-Second IAS Annual Meeting.

[14]  Roger D. Quinn,et al.  A Robot that Climbs Walls using Micro-structured Polymer Feet , 2005, CLAWAR.

[15]  Roland Siegwart,et al.  Toward Micro Wall-Climbing Robots Using Biomimetic Fibrillar Adhesives , 2005, AMiRE.

[16]  Roland Siegwart,et al.  Magnebike: A magnetic wheeled robot with high mobility for inspecting complex-shaped structures , 2009 .

[17]  Mark R. Cutkosky,et al.  Biologically inspired climbing with a hexapedal robot , 2008, J. Field Robotics.

[18]  M. Sitti,et al.  Gecko-inspired directional and controllable adhesion. , 2008, Small.

[19]  B. L. Luka,et al.  Walking and Climbing Service Robots for Safety Inspection of Nuclear Reactor Pressure Vessels , 2005 .

[20]  Jizhong Xiao,et al.  Design of Mobile Robots with Wall Climbing Capability , 2005, AIM 2005.

[21]  Carlo Menon,et al.  Multi-Scale Compliant Foot Designs and Fabrication for Use with a Spider-Inspired Climbing Robot , 2008 .

[22]  A. Yamamoto,et al.  Wall Climbing Mechanisms Using Electrostatic Attraction Generated by Flexible Electrodes , 2007, 2007 International Symposium on Micro-NanoMechatronics and Human Science.

[23]  C. Menon,et al.  Abigaille-I: Towards the development of a spider-inspired climbing robot for space use , 2008, 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics.

[24]  Roy Kornbluh,et al.  Electroadhesive robots—wall climbing robots enabled by a novel, robust, and electrically controllable adhesion technology , 2008, 2008 IEEE International Conference on Robotics and Automation.

[25]  Carlo Menon,et al.  Abigaille II: toward the development of a spider-inspired climbing robot , 2011, Robotica.

[26]  Richard Alexander,et al.  A Mobile Climbing Robot for High Precision Manufacture and Inspection of Aerostructures , 2005, Int. J. Robotics Res..

[27]  Carlo Menon,et al.  Gecko Inspired Surface Climbing Robots , 2004, 2004 IEEE International Conference on Robotics and Biomimetics.

[28]  Roland Siegwart,et al.  Magnebike: A magnetic wheeled robot with high mobility for inspecting complex‐shaped structures , 2009, J. Field Robotics.

[29]  Mark R. Cutkosky,et al.  Smooth Vertical Surface Climbing With Directional Adhesion , 2008, IEEE Transactions on Robotics.