Morphing electroadhesive interface to manipulate uncooperative objects

Livia Savioli; Giovanni Sguotti; Alessandro Francesconi; Francesco Branz; Jeff Krahn; Carlo Menon

doi:10.1117/12.2045065

8 March 2014 Morphing electroadhesive interface to manipulate uncooperative objects

Livia Savioli, Giovanni Sguotti, Alessandro Francesconi, Francesco Branz, Jeff Krahn, Carlo Menon

Proceedings Volume 9061, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014; 906129 (2014) https://doi.org/10.1117/12.2045065
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2014, San Diego, California, United States

Abstract

The possibility of handling uncooperative objects, i.e. objects not equipped with any features that can aid their manipulation, is of particular interest for both terrestrial and space robotic applications. In this framework, this paper deals with the development and testing of a smart material substrate, which can be integrated into an end-effector device, where morphing and electro-adhesive capabilities are combined to allow the manipulation of uncooperative objects of different shapes and materials. Compliance and adhesion properties are obtained by creating a conductive pattern of electrodes embodied on the surface of a polymeric substrate. On one hand, the polymeric material, activated by a change in temperature, can adapt to any shape when it is heated, and maintain the deformed shape after being cooled, even when the load is removed, becoming compliant with the objects surface. On the other hand, the conductive pattern is responsible for the adhesive effect: when a high voltage is applied, the electric field generated induces an opposite charge on the objects surface establishing reversible attraction forces. Furthermore, the conductive pattern could be used to activate the morphing behaviour when the manipulator and the target object come into contact. A resistiveelectroadhesive pad is realized and some tests are performed to verify the heating behavior of the electrodes and the electroadhesion forces achievable. Morphing tests are also performed to verify the ability of the polymeric substrate to maintain the deformed shape after cooling.

Citation Download Citation

Livia Savioli, Giovanni Sguotti, Alessandro Francesconi, Francesco Branz, Jeff Krahn, and Carlo Menon "Morphing electroadhesive interface to manipulate uncooperative objects", Proc. SPIE 9061, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014, 906129 (8 March 2014); https://doi.org/10.1117/12.2045065

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