基于混纺平纹织物的静电吸附式抓取技术研究

Research on Electrostatic Adsorption Gripping Technology Based on Blended Plain Fabrics

为了实现机械手更好地对混纺平纹织物进行抓取,课题组研究了静电吸附式抓取技术。首先,通过分析混纺平纹织物结构特性,建立混纺平纹织物三维模型与等效介电常数计算模型,并对织物在电场中受力情况进行研究;其次,结合Maxwell应力张量计算方法,建立二维静电吸附力模型,研究不同配置类型的静电极板产生的吸附力大小,用于指导静电极板的配置结构设计。结果表明:织物的等效介电常数与各纤维的体积分数和分布形态有关;织物所受到的静电吸附力随极板所施电压的增加而增大,并与其平方成正比,验证了使用静电吸附式抓取织物的有效性;通过对不同配置类型极板的吸附效果的对比,确定了最优的极板结构。该研究为静电吸附式技术在服装面料抓取领域中的应用提供了重要参考。

In order to realize the robot to better gripping of the blended plain fabrics,the electrostatic adsorption gripping technology was studied.Firstly,by analyzing the structural characteristics of blended plain fabrics,the three-dimensional model and equivalent dielectric constant calculation model of blended plain fabrics were established,and the force condition on the fabrics in the electric field was studied;secondly,combined with the Maxwell stress tensor calculation method,the two-dimensional electrostatic adsorption model was established.The adsorption force generated by electrostatic electrodes with different configurations was used for guiding the structural design of electrostatic electrodes′configurations.The results show that the equivalent dielectric constant of the fabric is related to the volume fraction and distribution pattern of each fiber;The electrostatic adsorption force on the fabric increases with the increase of the voltage applied by the pole plate and is proportional to its square,which verifies the validity of the effectiveness of using electrostatic adsorption for fabric gripping;and the optimal pole plate structure is determined by comparing the adsorption effects of the pole plates of different configuration types.This study provides an important reference for the application of electrostatic adsorption technology in the field of garment fabric gripping.