Self-Sensing Electroadhesive Polymer Gripper with Magnetically Controllable Surface Geometry
- Compared to conventional end effectors, electro-adhesive grippers enable the handling of sensitive, soft or air-permeable materials [1]. The prehension force is based on a strong electric field generated by electrodes resulting in a polarisation of the dielectric and the generation of mirror charges in the workpiece. When the electrode supply voltage is deactivated, the electric field drops,but an electrostatic field remains due to remanent polarisation of the dielectric. The residual charge on the gripper surface reduces only slowly and in combination with other influencing factors can prevent the workpieces from being ejected temporarily or completely. In this work a solution to this problem is presented by means of gripper surface deforming caused by the applicat ion of a magnetic field to a magneto- active polymer (MAP) actuator. The in-creased distance between the workpiece and the dielectric enables precise and controlled ejection. In addition to compliance and deformability, the employment of soft smart materials enables the integration of self-sens-ing mechanisms for the measurement of surface deformation. The embedding of electrically conductive flexible electrodes within the soft silicone dielectric sup port such movements and serves as the n ecessary electrodes for electroadhesion. Since the implementation of the end effectoris based entirely on soft materials, the self-sensing magnetically controllable electroadhesive gripper (SMEG) can be produced in a shape deposition manufacturing (SDM) process [2], [3] and is highly applicable to the field of soft robotics.
Author: | Dirk SindersbergerORCiD, Nina PremORCiD, Gareth J. MonkmanORCiDGND, Klaus Zimmermann |
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DOI: | https://doi.org/10.1002/macp.201800222 |
ISBN: | 9783800754540 |
Parent Title (German): | Actuator 2021, International Conference and Exhibition on New Actuator Systems and Applications: GMM conference, February 17-19, 2021, online event |
Publisher: | VDE VERLAG |
Place of publication: | Berlin; Offenbach |
Editor: | Helmut Schlaak |
Document Type: | conference proceeding (article) |
Language: | German |
Year of Completion: | 2021 |
Year of first Publication: | 2021 |
Release Date: | 2022/01/27 |
First Page: | 318 |
Last Page: | 320 |
Institutes: | Fakultät Elektro- und Informationstechnik |
Fakultät Elektro- und Informationstechnik / Mechatronics Research Unit (MRU) | |
research focus: | Sensorik |
Licence (German): |