NDLI: Optimal Design of the Electroadhesion Pad with a Dual-Insulating Layer for Climbing Robots

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Optimal Design of the Electroadhesion Pad with a Dual-Insulating Layer for Climbing Robots

Content Provider	MDPI
Author	Jeong, Yong-Jin Hong, Tae-Hwa Lee, Hak-Jun Kim, Kihyun
Copyright Year	2022
Description	The electroadhesion pad is mainly studied for applications, such as climbing robots and grippers. In this paper, we present our study with the confirmation of the adhesion properties of the electroadhesion pad with a double-insulating layer, pad modeling, and optimal design. Modeling and analysis consider the air layer generated during the manufacturing of both conventional single-insulated structures and dual-insulated structures. Through the finite element analysis simulation, the characteristics of the electroadhesion were verified, and modeling verification was performed, based on the variables that had a large influence as follows: applied voltage, electrode area, dielectric thickness, and permittivity. The electrode is made of aluminum, the substrate is made of silicon, and the dielectric is made of polyimide film. An error of up to 8.3% was found between the modeling and simulation. The optimization results were validated based on a pad applied to a climbing robot measuring $320\times480$ $mm²$ and weighing 2.8 $kg$ . As a result, the optimal pad design resulted in an error of 7.3% between the modeling and simulation.
Starting Page	36
e-ISSN	20760825
DOI	10.3390/act11020036
Journal	Actuators
Issue Number	2
Volume Number	11
Language	English
Publisher	MDPI
Publisher Date	2022-01-25
Access Restriction	Open
Subject Keyword	Actuators Robotics Electroadhesion Interdigitated Electrode Electrostatic Force Climbing Robot
Content Type	Text
Resource Type	Article

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