Modeling of attraction force generated by interdigital electrodes for electroadhesive robots

A new direct method for calculating the electrostatic force of electroadhesive robots generated by interdigital electrodes is presented. Here, series expansion is employed to express the spatial potential, and point matching method is used in dealing with some boundary conditions. The attraction force is calculated using the Maxwell stress tensor formula. The accuracy of this method is verified through comparing our results with that of simulation work as well as reported experimental data, the agreement is found to be very good.

[1]  D. Marcuse.  Electrostatic field of coplanar lines computed with the point matching method , 1989 .

[2]  T. Higuchi,et al.  Electrostatic force analysis of electrostatic levitation system , 1995, SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers.

[3]  S. Gevorgian,et al.  Conformal mapping of the field and charge distributions in multilayered substrate CPWs , 1999 .

[4]  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.

[5]  Shao Ju Woo,et al.  Electric field and force modeling for electrostatic levitation of lossy dielectric plates , 2010 .

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

[7]  K. Yatsuzuka,et al.  Fundamental characteristics of electrostatic wafer chuck with insulating sealant , 1998, Conference Record of 1998 IEEE Industry Applications Conference. Thirty-Third IAS Annual Meeting (Cat. No.98CH36242).