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Additive manufacturing of flexible 3D surface electrodes for electrostatic adhesion control and smart robotic gripping

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摩擦:英文版 2023年第11期11卷 1974-1986页

作者： Dong Geun KIM Hyeongmin JE AJohn HART Sanha KIM Department of Mechanical Engineering Korea Advanced Institute of Science and TechnologyDaejeon 34141Republic of Korea Department of Mechanical Engineering Massachusetts Institute of TechnologyCambridgeMA 02139USA

Mechanically flexible surface structures with embedded conductive electrodes are attractive in contact-based devices,such as those used in reversible dry/adhesion and tactile *** shapes of the surface structures strongly determine the contact behavior and therefore the resulting adhesion and sensing functionalities;however,available features are often restricted by fabrication ***,we additively manufacture elastomeric structure arrays with diverse angles,shapes,and sizes;this is followed by integration of conductive nanowire *** fabricated flexible three-dimensional(3D)surface electrodes are mechanically compliant and electrically conductive,providing multifunctional ability to sense touch and to switch adhesion via a combined effect of shear-and electro *** designed soft,anisotropic flexible structures to mimic the gecko’s reversible adhesion,which is governed by van der Waals forces;we integrated nanowires to further manipulate the localized electric field among the adjacent flexible 3D surface electrodes to provide additional means to digitally tune the electrostatic attraction at the contact *** addition,the composite surface can sense the contact force via capacitive *** our flexible 3D surface electrodes,we demonstrate a complete soft gripper that can grasp diverse convex objects,including metal,ceramic,and plastic products,as well as fresh fruits,and that exhibits 72%greater electroadhesive gripping force when voltage is applied.

关键词： electroadhesion tactile sensing robotic gripper additive manufacturing dry adhesive

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gripper Design for Radio Base Station Autonomous Maintenance System

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International Journal of Automation and computing 2021年第4期18卷 645-653页

作者： Gabriel Reis Marrone Dantas Daniel Bezerra Gibson Nunes Pedro Dreyer Carolina Ledebour Judith Kelner Djamel Sadok Ricardo Souza Silvia Lins Maria Marquezini Networking and Telecommunications Research Group Informatics CenterFederal University of PernambucoRecife 50730-120Brazil Ericsson Research Indaiatuba 13337-300Brazil

For an autonomous system to perform maintenance tasks in a networking device or a radio base station(RBS), it has to deal with a series of technological challenges ranging from identifying hardware-related problems to manipulating connectors. This paper describes the development of a robot maintenance system dedicated to detect and resolve faulty links caused by unplugged or poorly connected cables. Although the maintenance system relies on four subsystems, we significantly focus on our low-cost and efficient custom gripper solution developed to handle RJ45 Ethernet connectors. To examine our gripper, we conducted three experiments. First, a qualitative questionnaire was submitted to 30 users in the case of the teleoperated scenario of the gripper attached to a robotic arm. Similarly, we also tested the automatic operation mode. The results showed that our system is reliable and delivers a highly efficient maintenance tool in both teleoperated and autonomous operation modes. The practical experiment containing the removal or unplugging of connectors demonstrated our gripper′s ability to adequately handle these, whereas the feedback from the questionnaire pointed to a positive user experience. The automatic test assessed the gripper′s robustness against the continuous operation.

关键词： robotic gripper maintenance system gripper design 3D print product development

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