Electro adhesion for wall climbing robots is
In
based on the principles of electrostatic
attraction, creating adhesion by means of
electrostatic forces between the robot and
the surface. Charges are induced using
electric fields induced through electrodes
by means of a high voltage supply. Each
electrode has an opposite charge to its
neighbor:
The material used to create the pads are
more effective when made from highly
compliant material; conforming to the face
which they are placed. This allows greater
force to be applied as a closer grip can be
had on the surface. Figure 4.2 illustrates
clamping forces and pressures.
Energy required to produce the adhesive
forces is low, an average measurement at
approximately 20microW/Newton. The
power required to hold the robot in its
places therefore not a significant amount as
required to create its motion, making
electro adhesion energy efficient.
addition to this the time to apply and
remove the electrostatic attraction is also
minimal at less than ten to fifteen
milliseconds.
Electro adhesion can be used in the
standard form of wheeled/tracked robot
with minimal changes. In this way, a tracked
robot may be equipped with flaps or the
entire tread may be created as an
electrostatic surface. On occasion, just as in
suction-based adhesion, a tail maybe
required to counter the peel moments.
Biomimetic
This form of wall-adhesion gives its well to
simulation of climbing mechanisms seen
naturally. Inch worm robots, also developed
for magnetic adhesion, can be adapted to
use electro adhesion. Inch worm robots are
formed of two adhesive segments joined by
flexible bridge, attaching itself to the wall
by means of moving its two adhesive
segments one by one.
Another adaptation of nature is gecko
inspired, creating mechanisms to simulate
the four legged gait of the gecko, while
implementing electro adhesion to allow it
to stick to surfaces.
Discussion
As see