Electroadhesion Gripper With Diode-Linked Spiral Electrodes
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Solution Overview
Problem
Existing electroadhesion grippers face challenges in reliably determining the occupation of workpieces due to complex and costly procedures for discharging capacitive residual charges, which can lead to incomplete or failed gripping operations, especially when used alone for handling light workpieces like metal sheets.
Innovation Solution
The implementation of a diode component connecting two spiral electrodes in a bifilar arrangement allows for both electroadhesion and occupation measurement functions, utilizing the inductivity of the electrode portions to assess whether a workpiece is gripped, thereby simplifying the structure and enhancing operational reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If complex circuits are used to determine and discharge capacitive residual charges, then the discharge reliability is improved, but the device complexity and manufacturing cost increase substantially
Solution Approach 1:
The patent combines the discharge function with the existing electrode structure by integrating a discharge electrode that can be activated through simple voltage polarity reversal. This merges the discharge capability into the basic electrode system rather than adding separate complex discharge circuits, thereby maintaining reliability while reducing device complexity and manufacturing cost.
Solution Approach 2:
The patent applies inversion by reversing the voltage polarity to activate the discharge electrode. Instead of using complex discharge circuits, the system utilizes the opposite polarity state to achieve discharge, transforming a potentially complex problem into a simple polarity control mechanism that reduces circuit complexity while maintaining discharge reliability.
2Force
If electroadhesion is used alone to grip light workpieces, then the gripping force is sufficient, but the monitoring of workpiece occupation becomes difficult and unreliable
Solution Approach 1:
The patent implements multi-functionality by enabling the electrode system to serve both gripping and monitoring functions. The same electrodes used for electroadhesion also function as sensors for detecting workpiece occupation through capacitance measurements, eliminating the need for separate monitoring systems and reducing overall device complexity while maintaining reliable detection capability.
Solution Approach 2:
The patent applies feedback by continuously monitoring the capacitance between the electrodes and the workpiece. This capacitance information provides real-time feedback on workpiece occupation status, allowing the system to reliably detect whether light workpieces are being gripped without requiring additional complex monitoring hardware, thus solving the detection difficulty while maintaining sufficient gripping force.
3Measurement precision
If additional measurement current circuits are added to check gripper occupation, then the monitoring accuracy is improved, but the device complexity and manufacturing cost increase
Solution Approach 1:
The patent achieves multi-functionality by using the same electrode structure for both gripping and measurement purposes. The electrodes serve dual roles as both actuator and sensor, allowing occupation measurement without requiring additional separate measurement circuits. This reduces device complexity and manufacturing cost while maintaining measurement accuracy through capacitance-based detection.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration enables efficient and reliable gripping and monitoring of workpiece occupation, improving the handling of light workpieces by providing a perceptible inductivity that indicates successful gripping and reducing the risk of workpiece loss during transport.
Implementation Method 1
Portions of the first and second spiral electrodes are connected in series by the diode component, and the entirety of the connected portions of the first and second spiral electrodes has a perceptible inductivity
Implementation Method 2
there is a powerful electrical field between the electrodes. A workpiece which abuts the adhesion face remains bonded to the adhesion face when the electrical field is switched on
Data Source
AI summary
An electroadhesion gripper for retaining workpieces includes a first spiral electrode having a plurality of turns and a second spiral electrode having a plurality of turns, the two spiral electrodes being arranged so as to be at least partially bifilar. The electroadhesion gripper has a diode by which the first and second spiral electrodes are connected to each other. Portions of the first and second spiral electrodes are connected in series by the diode, and an entirety of the connected portions of the first and second spiral electrodes has a perceptible inductivity. The gripper is driven with an alternating-current (AC) voltage and an occupation state and wear degree of the gripper can be determined during the AC voltage cycle.