Modeling of attraction force generated by interdigital electrodes for electroadhesive robots

Author

Shen, Hua ; Liu, Rong ; Chen, Rui ; He, Junhu

Author_Institution

Sch. of Mech. Eng. & Autom., BeiHang Univ., Beijing, China

fYear

2012

fDate

25-27 July 2012

Firstpage

678

Lastpage

681

Abstract

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.

Keywords

adhesion; adhesives; force control; internal stresses; mobile robots; series (mathematics); Maxwell stress tensor formula; attraction force model; boundary condition; electroadhesive robot; electrostatic force; interdigital electrodes; point matching method; series expansion; spatial potential; wall climbing robots; Dielectrics; Electric fields; Electric potential; Electrodes; Electrostatics; Force; Robots; Maxwell stress tensor; electroadhesive robot; electrostatic force;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Informatics (INDIN), 2012 10th IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4673-0312-5

Type

conf

DOI

10.1109/INDIN.2012.6301191

Filename

6301191