飞行吸附机器人的静电吸附单元优化设计研究

Optimal Design of Electrostatic Adhesion for Flying and Adhesive Robot

静电吸附作为一种新型吸附原理,具有低噪声、低功耗等优势,在三维空间移动机器人如爬壁机器人、飞行吸附机器人中潜在应用价值显著。实验对比研究了不同电极类型、不同填充绝缘材料及厚度等对于吸附力性能的影响规律,优化选择了梳状电极类型和PVC填充绝缘材料。理论分析和实验研究了电极几何结构对于吸附力的影响规律,针对影响梳状电极吸附力的关键因素,分别进行了比较,以确定最优的几何结构。对设计的静电吸附板分别在不同壁面下开展了吸附力性能测试,验证了静电吸附优化设计的有效性以及在飞行吸附等机器人应用上的可行性。

As a novel attachment mechanism, the electro-adhesion has great potential application value in the field of climbing and flying adhesive robots with the advantage of its low noise and high efficiency. This paper compares the shear force for the use of different styles and shapes of electrode, optimizes and selects the comb-shaped electrodes and the PVC as the insulating layer material and analyzes and studies the key factors of the comb-shaped electrodes, which have influence on its adhesive. Finally, based on the designed electro-adhesion pad, electro-adhesion shear force tests are conducted on the some materials. It demonstrates the effectiveness of the optimal design of the electrostatic adhesion and the feasibility of the potential applications on flying and adhesive robot.