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De-electroadhesion of Flexible and Lightweight Materials: An Experimental Study

1
SoftLab, Bristol Robotics Laboratory, Bristol BS16 1QY, UK
2
Department of Aerospace Engineering, University of Bristol, Bristol BS8 1TR, UK
3
Shenzhen Institute of Advanced Technology, China Academy of Sciences, Shenzhen 518055, China
4
Department of Engineering Mathematics, University of Bristol, Bristol BS8 1UB, UK
5
Department of Mechanical Engineering, University of Bristol, Bristol BS8 1TR, UK
*
Authors to whom correspondence should be addressed.
Appl. Sci. 2019, 9(14), 2796; https://doi.org/10.3390/app9142796
Received: 14 June 2019 / Revised: 4 July 2019 / Accepted: 10 July 2019 / Published: 12 July 2019
(This article belongs to the Section Applied Physics)
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PDF [2105 KB, uploaded 12 July 2019]
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Abstract

Electroadhesion (EA) is an emerging prehension method with wide application in robotics, including object handling, component assembly, and robotic locomotion. A major challenge with EA is the development of novel solutions for speeding up the release process, where residual charges inhibit release. In this work, a comprehensive study on the effects of EA base substrate and object material types on de-electroadhesion time is presented. Experimental results show that the de-electroadhesion speed is highly dependent on the base substrate and object material type. There is a strong inverse correlation between dielectric constant and de-electroadhesion rate, while a higher molecular weight demonstrates slower dielectric relaxation and hence release time. These findings will enable the design of cost-effective EA-based robotic end effectors with rapid release capabilities. EA grippers with quicker de-adhesion abilities could significantly improve the overall throughput of assembly lines where material pick-and-place tasks are involved. In addition, more efficient and faster locomotion speeds could be achieved for crawling or climbing robots where EA is employed as their active adhesion and de-adhesion feet. View Full-Text
Keywords: electroadhesion; de-adhesion; flexible and lightweight materials electroadhesion; de-adhesion; flexible and lightweight materials
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Cao, C.; Gao, X.; Guo, J.; Conn, A. De-electroadhesion of Flexible and Lightweight Materials: An Experimental Study. Appl. Sci. 2019, 9, 2796.

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