Effects of residual charge on the performance of electro-adhesive grippers

SINGH, Jatinder, BINGHAM, Paul, PENDERS, Jacques and MANBY, David (2016). Effects of residual charge on the performance of electro-adhesive grippers. In: ALBOUL, Lyuba, DAMIAN, Dana and AITKENS, Jonathan M., (eds.) Towards autonomous robotic systems. TAROS 2016, Sheffield, UK, June 26--July 1, 2016, Proceedings. Lecture Notes in Computer Science. Lecture Notes in Artificial Intelligence (9716). Springer International Publishing, 327-338.

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Abstract

Electro-adhesion is the new technology for constructing gripping solutions that can be used for automation of pick and place of a variety of materials. Since the technology works on the principle of parallel plate capacitors, there is an inherent ability to store charge when high voltage is applied. This causes an increased release time of the substrate when the voltage is switched off. This paper addresses the issue of residual charge and suggests ways to overcome the same, so that the performance of the gripper can be improved in a cycle of pick and release. Also a new universal equation has been devised, that can be used to calculate the performance of any gripping solution. This equation has been used to define a desired outcome (K) that has been evaluated for different configurations of the suggested electro-adhesive gripper.

Item Type:	Book Section
Additional Information:	Series ISSN : 0302-9743. Sheffield, UK, June 26-July 1, 2016.
Research Institute, Centre or Group - Does NOT include content added after October 2018:	Materials and Engineering Research Institute > Engineering Research
Identification Number:	https://doi.org/10.1007/978-3-319-40379-3_34
Page Range:	327-338
Depositing User:	Margaret Boot
Date Deposited:	20 Sep 2016 15:28
Last Modified:	18 Mar 2021 03:39
URI:	https://shura.shu.ac.uk/id/eprint/13371

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