Scribd Logo
Upload

Welcome to Scribd!

  • Sri Wallclimbingrobots

    Uploaded by

    Amit Pujar
    9 views2 pages
    This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force) and V (driving voltage) within the 2 kV range. After this range, the F-V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic application This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force) and V (driving voltage) within the 2 kV range. After this range, the F-V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic application

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    Report this Document
    This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force) and V (driving voltage) within the 2 kV range. After this range, the F-V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic application This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force) and V (driving voltage) within the 2 kV range. After this range, the F-V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic application

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    9 views2 pages

    Sri Wallclimbingrobots

    Uploaded by

    Amit Pujar
    This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force) and V (driving voltage) within the 2 kV range. After this range, the F-V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic application This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force) and V (driving voltage) within the 2 kV range. After this range, the F-V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic application

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 2

    Wall-Climbing Robots

    Electroadhesive Robots for Robust Vertical Mobility

    SRI International is introducing

    Innovative roller design that

    wall-climbing robot prototypes for

    houses all electroadhesion

    surveillance, inspection, and sensor

    electronics components

    placement applications. Ideal for


    remote surveillance or inspection of concrete pillars or other

    High strength/weight ratio


    fiberglass honeycomb chassis

    High torque servo motor


    High energy-density lithium
    polymer batteries for robot drive
    and advanced lithium ion batteries
    for electroadhesion

    structures (e.g. bridges, tunnels,


    etc.), this robot uses SRIs patented
    electroadhesion technology to
    enable wall climbing. It can also
    be used to carry payloads such as
    cameras, wireless network nodes,

    P e r f o r m a n c e S p e c i f i c at i o n s
    Dimensions
    Total Weight (excluding all payloads)

    and other sensors.

    Payload Capacity
    Sensor placement above
    ground clutter
    High-resolution inspection

    Automated mapping of 3D structures

    Steering

    5 (greater steering angles available)

    Battery Life

    High-performance, rugged, steel-

    200 m travel distance without


    recharging
    5 hours perching time without
    recharging

    Remote Control Range

    100 m

    Operational Conditions

    10 40C
    Robot can navigate in limited
    wind conditions (< 5 m/s)

    Obstacle Clearance

    Obstructions of height 1 cm
    or less perpendicular to direction
    of robot motion

    reinforced electroadhesive belt


    High strength carbon fiber tail
    Able to traverse concrete walls

    Heavier payloads (up to 1 Kg)


    can be hung from the robot at
    a distance of less than 2 cm
    from wall
    Concrete, metal, wood, glass,
    and drywall

    Robot Features
    controlled wireless transmitter

    1.2 Kg

    Operational Surfaces

    Automatic detection of cracks

    Remotely driven by operator-

    Main body: Approx. 40 cm x 50 cm

    200 g at a distance 10-15 cm


    from wall

    Electroadhesive robots enable:

    of vertical surfaces

    Outside: Approx. 50 cm x 70 cm

    with bumps, ledges, pipes, and


    wire bundles
    Operates in dusty, outdoor
    environments
    Operates on most surfaces

    Watch SRIs wall-climbing robot in action on our YouTube channel:


    youtube.com/innovationsri

    S
    About SRI International
    Silicon Valley-based SRI
    The technology and design of this

    International, a nonprofit research

    robot may be adapted to fit the

    and development organization,

    needs of your specific application.

    performs sponsored R&D for govern-

    Contact SRI to discuss its potential

    ments, businesses, and foundations.

    for your project.

    SRI brings its innovations to the

    Contact Us

    marketplace through technology


    licensing, new products, and spin-off

    Philip von Guggenberg

    ventures. Commemorating its 65th

    Director

    anniversary in 2011, SRI is known

    Business Development

    for world-changing innovations in

    pvong@sri.com

    computing, health and pharma-

    phone: 650.859.5865

    ceuticals, chemistry and materials,


    sensing, energy, education, national
    defense, and more.
    Headquarters: Silicon Valley
    SRI International
    333 Ravenswood Avenue
    Menlo Park, California 94025-3493
    650.859.2000
    Washington, D.C.
    SRI International
    1100 Wilson Blvd., Suite 2800
    Arlington, Virginia 22209-3915
    703.524.2053
    Princeton, New Jersey
    SRI Sarnoff
    201 Washington Road
    Princeton, New Jersey 08540-6449
    609.734.2000
    Additional U.S. and international
    locations
    www.sri.com
    SRI International is a registered trademark
    of SRI International. All other trademarks
    are the property of their respective owners.
    Copyright 2011 SRI International.
    All rights reserved. 02/11

    You might also like