Abstract
Electroadhesion is an adhesion mechanism applying high voltage to generate adhesive force. The electroadhesion system can generate and maintain adhesive force on almost any object, solving the challenge of handling irregular and rough surface objects as well as fragile objects. The electroadhesive pad is a key component of the electroadhesion system for interacting with the target object. By optimizing the design of the electroadhesive pad, the electroadhesion system provides greater adhesive force and achieves better adhesion. In this study, a multiparameter theoretical model including the dimensional parameters of the electroadhesive pad has been developed and an optimization design strategy for specific applications has been proposed. By considering both the key parameters influencing the electroadhesive force and the practical constraints of equipment and materials, this strategy allows the optimization design methods of electroadhesive pads to be further extended to applications. The influence of each parameter on the optimization results has been evaluated by calculating and comparing the optimized values under different conditions, and it has been demonstrated that the size of the pad also has an effect on the optimized values. A 3D simulation model has been established to simulate the effect of electroadhesion, and the accuracy of the optimization results has been verified by comparing the theoretical and simulation results. An application example has been performed and the results have shown that the structure of the electroadhesive pad can be optimized by using this strategy, thus maximizing the generated electroadhesive force and improving the overall performance of the electroadhesion system.
Highlights
Electroadhesion is the electrostatic attraction force that occurs between the electroadhesive device and the contacting material when a high voltage is applied [1]
Tw increases as εr2 increases and obviously the change in εr2 has a greater effect on the electroadhesive force than that of εr1, implying that the change of the force is more sensitive to εr2
To have a better understanding of the mechanism of electroadhesion and to verify the accuracy of the above theoretical results, a 3D simulation model has been created in COMSOL. e model can be employed to simulate the magnitude and distribution of the potential and electric field generated by the applied voltage, as well as the polarized charge density generated by the dielectric polarization, and to calculate the value of the resulting electroadhesive force
Summary
Electroadhesion is the electrostatic attraction force that occurs between the electroadhesive device and the contacting material when a high voltage is applied [1]. E relationship between several key parameters, including applied voltage, relative dielectric constant, and thickness of the insulating material, and geometry of the electrode and electroadhesive force was investigated by Guo et al [21] through theoretical model calculations and simulation analysis. Wang et al [27] established an overall flow diagram based on parametric analysis to select the optimal design parameters for electroadhesive pads These works have attempted to provide strategies for optimizing the geometry of electroadhesive pads, they ignore practical influences such as the limitations of power supply devices and manufacturing equipment. To further extend the optimization design method to practical applications, an optimization design strategy based on the multiparameter theoretical model has been proposed by considering the key design parameters (size, structure, and material parameters of the electroadhesive pad) and the actual constraints (available materials, limitations of manufacturing processes, and power supply equipment). Based on the parallel plate capacitor model, the sum electrostatic force between the pad and the conductor surface can be calculated by
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