Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/147953
Title: Electroadhesion for vertical locomotion in soft robotics
Authors: Chan, Benjamin Weijie
Keywords: Engineering::Materials::Material testing and characterization
Issue Date: 2020
Publisher: Nanyang Technological University
Source: Chan, B. W. (2020). Electroadhesion for vertical locomotion in soft robotics. Master's thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/147953
Abstract: Electroadhesion is an electrostatic attraction phenomenon which is implemented in manufacturing facilities to handle complex materials, and in climbing robots as the means for adhesion during locomotion. Major drawbacks of this system are the requirement for high-voltage power supply when in use, and lengthy detachment process upon the removal of power supply due to residual charge polarization of the dielectric material which diminishes sluggishly with dielectric relaxation. In this research, poly(vinylidene fluoride) (PVDF) is featured as the replacement dielectric material in electroadhesion system for soft climbing robot vertical locomotion process. PVDF possesses superior dielectric constant as compared to Kapton (polyimide), which enhances the electroadhesive performance, as well as low residual charge properties which, therefore, enable the effective dissipation of residual charges. The PVDF-assembled electroadhesion pad can enable the soft climbing robot to execute a smooth locomotion process when actuating vertically whilst operate at a reduced rate of power consumption.
URI: https://hdl.handle.net/10356/147953
DOI: 10.32657/10356/147953
Rights: This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0).
Fulltext Permission: embargo_20230422
Fulltext Availability: With Fulltext
Appears in Collections:MSE Theses

Files in This Item:
File Description SizeFormat 
THESIS REPORT - ELECTROADHESION FOR VERTICAL LOCOMOTION IN SOFT ROBOTICS.pdf
  Until 2023-04-22
7.2 MBAdobe PDFUnder embargo until Apr 22, 2023

Page view(s)

212
Updated on May 17, 2022

Download(s)

1
Updated on May 17, 2022

Google ScholarTM

Check

Altmetric


Plumx

Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.