Optimal Design of the Electroadhesion Pad with a Dual-Insulating Layer for Climbing Robots

Actuators

Kihyun Kim¹  Hak-Jun Lee²  Yong-Jin Jeong²  Tae-Hwa Hong² 

[1] Department of Mechatronics Engineering, Korea Polytechnic University, Siheung-si 15073, Korea;Smart Manufacturing System R&D Department, Korea Institute of Industrial Technology, Cheonan-si 31056, Korea;

关键词: electroadhesion;    interdigitated electrode;    electrostatic force;    climbing robot;   

DOI  :  10.3390/act11020036

来源: DOAJ

【 摘 要 】

The electroadhesion pad is mainly studied for applications, such as climbing robots and grippers. In this paper, we present our study with the confirmation of the adhesion properties of the electroadhesion pad with a double-insulating layer, pad modeling, and optimal design. Modeling and analysis consider the air layer generated during the manufacturing of both conventional single-insulated structures and dual-insulated structures. Through the finite element analysis simulation, the characteristics of the electroadhesion were verified, and modeling verification was performed, based on the variables that had a large influence as follows: applied voltage, electrode area, dielectric thickness, and permittivity. The electrode is made of aluminum, the substrate is made of silicon, and the dielectric is made of polyimide film. An error of up to 8.3% was found between the modeling and simulation. The optimization results were validated based on a pad applied to a climbing robot measuring $320\times 480$$\mathrm{mm}²$ and weighing 2.8 $\mathrm{kg}$. As a result, the optimal pad design resulted in an error of 7.3% between the modeling and simulation.

【 授权许可】

Unknown