Electroadhesion for vertical locomotion in soft robotics
Electroadhesion is an electrostatic attraction phenomenon which is implemented in manufacturing facilities to handle complex materials, and in climbing robots as the means for adhesion during locomotion. Major drawbacks of this system are the requirement for high-voltage power supply when in use, an...
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| Format: | Thesis-Master by Research |
| Language: | English |
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Nanyang Technological University
2021
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| Online Access: | https://hdl.handle.net/10356/147953 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Electroadhesion is an electrostatic attraction phenomenon which is implemented in manufacturing facilities to handle complex materials, and in climbing robots as the means for adhesion during locomotion. Major drawbacks of this system are the requirement for high-voltage power supply when in use, and lengthy detachment process upon the removal of power supply due to residual charge polarization of the dielectric material which diminishes sluggishly with dielectric relaxation. In this research, poly(vinylidene fluoride) (PVDF) is featured as the replacement dielectric material in electroadhesion system for soft climbing robot vertical locomotion process. PVDF possesses superior dielectric constant as compared to Kapton (polyimide), which enhances the electroadhesive performance, as well as low residual charge properties which, therefore, enable the effective dissipation of residual charges. The PVDF-assembled electroadhesion pad can enable the soft climbing robot to execute a smooth locomotion process when actuating vertically whilst operate at a reduced rate of power consumption. |
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