Experimental Investigation of the Effect of the Driving Voltage of an Electroadhesion Actuator.
Experimental Investigation of the Effect of the Driving Voltage of an Electroadhesion Actuator.
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DOI：
10.3390/ma7074963
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发表时间：
2014-06-25
期刊：
影响因子：
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通讯作者：
Ponnambalam SG
中科院分区：
文献类型：
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作者：
Koh KH;Sreekumar M;Ponnambalam SG
本文研究了驱动电压对电粘附致动器的粘附力的影响，因为现有的文献中关于在较高电场下粘附力饱和的文献是不完整的。开发了一种新型的电粘附致动器，其使用通常可用的材料，例如铝箔、PVC胶带和用于键盘保护的硅橡胶片，具有能够一致地产生粘附力的简单分层结构。所开发的致动器进行各种测试表面的评估实验;铝，砖，陶瓷，混凝土和玻璃。驱动高电压逐步变化以确定输出保持力的特性。结果表明，F（附着力）和V（驱动电压）在2 kV范围内的二次关系。在此范围之后，F-V响应在高电场下始终显示出饱和趋势。接着，介绍了在电介质材料中可能发生的泄漏电流和通过空气的电晕放电的概念。结果表明，电压电平，这对应于电源电流的开始，与力饱和的开始匹配良好。在此基础上，提出了电粘附驱动的工作模型。基于实验结果，提出了这样一种致动器可以在最佳高电压范围内驱动，以保持电效率。建议将本规范用于机器人应用电粘附致动器的未来设计、开发和表征。
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 applications.