Title :
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
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;
Conference_Titel :
Industrial Informatics (INDIN), 2012 10th IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-0312-5
DOI :
10.1109/INDIN.2012.6301191
