用于爬行机器人的双向薄膜斥力/引力静电致动器

2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2018-07-01 DOI:10.1109/MARSS.2018.8481235

E. Schaler, Loren Jiang, Caitlyn Lee, R. Fearing

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引用次数: 4

摘要

我们展示了一种新的薄膜静电致动器(RAFA)能够产生双向排斥力和吸引力。当工作在0-1.2 kV时，两层致动器可控地产生可测量的静电压力，斥力高达156 Pa (38.9 mN，电极面积为2.5 cm2)，吸引力为352 Pa (88.0 mN)。四个图案电极(每层两个)具有在模拟中优化的横截面几何形状，可在$\pmb{25-500} \ μ m$行程长度上获得最大阻挡力。RAFAR是一个132毫克毫米的机器人，使用1.45平方厘米的RAFAR，通过各向异性摩擦脚以0.32毫米/秒的速度爬行。

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Bidirectional, Thin-Film Repulsive-/Attractive-Force Electrostatic Actuators for a Crawling Milli-Robot

We demonstrate a new thin-film electrostatic actuator (RAFA) capable of generating bidirectional repulsive- and attractive-forces. The two-layer actuator controllably produces measured electrostatic pressures up to 156 Pa (38.9 mN, for 2.5 cm2 electrode area) in repulsion and 352 Pa (88.0 mN) in attraction when operating at 0-1.2 kV. The four patterned electrodes (two per layer) have a cross-section geometry optimized in simulation for maximum blocked force over a $\pmb{25-500} \mu m$ stroke length. RAFAR, a 132 mg milli-robot, uses a 1.45 cm2 RAFA to crawl at 0.32 mm/ s with anisotropic friction feet.

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来源期刊

2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

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