Development and Analysis of New Ceramic Materials for Electroadhesion

BIGHARAZ, Masoud (2021). Development and Analysis of New Ceramic Materials for Electroadhesion. Doctoral, Sheffield Hallam University.

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Link to published version:: https://doi.org/10.7190/shu-thesis-00458
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    Abstract

    Fabricating a gripper for industrial robot arms with the capability of handling a variety of objects with different mechanical and material properties is becoming more demanding and electroadhesion(EA)is one potential solution that has proved to be efficient in handling objects with dimensions ranging between micrometres to centimetres. This study has aimed to develop methods of fabricating EA devices, mostly focusing on fabricating new electroceramic-UV polymer composites to improve the electrical properties of dielectric layers within EA devices and thereby enhancing EA forces between the gripper and the substrate (an object being handled). Results show that using electroceramic materials can improve EA forces obtained by EA devices coated with composites made from UV-cured polymers and electroceramic particles as a result of increasing the relative permittivity of the coating layer. The UV-curable coating was chosen as it is a fast, room-temperature coating technology that enables avoidance of oxidation of the electrodes of EA devices during the coating process. Numerical simulations were used to find optimal designsforEA devices. In this study, ANSYS MAXWELL was used for simulations which have some advantages over similar software that have previously been used for this purpose, such as using an automotive adapting meshing technique and the capability of considering convergence criteria in simulations. Numerical simulations were carried out to find optimal shapes of electrodes and experimental results were consistent with the modelling results. Analytical solutions and their limitations for electroadhesion problems were developed. It was also concluded that there is no clear, simple relationship between EA force and the total capacitance of the system. The application of a high voltage dielectric oil as a dielectric layer was tested and showed to be one solution to tackle instability in the performance of EA devices.

    Item Type: Thesis (Doctoral)
    Additional Information: Director of Studies: Prof Paul A Bingham "No PQ harvesting"
    Research Institute, Centre or Group - Does NOT include content added after October 2018: Sheffield Hallam Doctoral Theses
    Identification Number: https://doi.org/10.7190/shu-thesis-00458
    Depositing User: Justine Gavin
    Date Deposited: 27 Jul 2022 17:13
    Last Modified: 27 Jul 2022 17:13
    URI: http://shura.shu.ac.uk/id/eprint/30520

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