Fiber Electrode Electrostatic Gripper for Soft Object Handling
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Solution Overview
Problem
Conventional electrostatic chucks face issues with reverse electrification, insufficient contact area, and weak attraction force when gripping soft objects like human skin, due to the use of metal foils that are rigid and prone to kinking, limiting their adaptability and durability.
Innovation Solution
An electrostatic attractor using a laminate sheet with a fiber component electrode, coated with electroconductive treatment, and soft polymeric organic substances with specific tensile modulus and volume resistivity, ensuring durability and effective gripping of soft objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If metal foil is used as an electrode, then electrostatic attraction force is generated, but the metal foil is rigid and prone to kinking, reducing adaptability to soft objects
Solution Approach 1:
The patent replaces rigid metal foil with a flexible fiber component (non-woven fabric or woven fabric) as the electrode substrate. This flexible fabric can conform to the surface of soft objects like human skin, increasing contact area and adaptability while maintaining electrostatic attraction capability through electroconductive treatment.
Solution Approach 2:
The patent creates a composite structure by combining electroconductive material (metal particles, conductive polymer, or conductive yarn) with flexible fabric material. This composite approach provides both the electrostatic attraction function and the flexibility needed to adapt to soft objects, resolving the contradiction between force generation and adaptability.
2Force
If metal foil is used as an electrode, then electrostatic attraction is achieved, but the metal foil has poor anti-kink characteristic and forms folds easily, reducing durability
Solution Approach 1:
The flexible fabric electrode resists kinking and folding compared to rigid metal foil, maintaining its structural integrity and electrostatic attraction capability over repeated use. The fabric's inherent flexibility prevents stress concentration and material fatigue that lead to durability issues.
3Area of stationary object
If conventional electrostatic chuck with flat surface is used, then sufficient contact area is required, but soft objects have curved surfaces, reducing actual contact area
Solution Approach 1:
The flexible fabric electrode can conform to curved surfaces of soft objects, maximizing contact area without requiring the object to be flat. This flexibility allows the electrode to adapt to the three-dimensional shape of the target object, ensuring sufficient contact area for effective electrostatic attraction.
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
The electrostatic attractor provides enhanced durability and reliable attraction of soft objects, eliminating the need for chemical adhesives, allowing for repeated use and facilitating the transportation of fragile items.
Implementation Method 1
electrostatic force generated by applying voltage to the electrode being used to attract and grasp an object to be attracted
Implementation Method 2
additional stronger force, generated at the interface between the chuck surface and the living body, such as the Johnson-Rahbeck effect, is needed
Data Source
AI summary
To provide an electrostatic attractor having excellent durability and capable of achieving more reliable attraction and gripping of an object to be attracted with electrostatic force. An electrostatic attractor includes a laminate sheet formed by sequentially laminating at least a first soft polymeric organic substance, an electrode, and a second soft polymeric organic substance, and a power source device configured to apply voltage to the electrode, electrostatic force generated by applying voltage to the electrode being used to attract and grasp an object to be attracted, with one of the soft polymeric organic substances as a contact surface, in which the first soft polymeric organic substance and/or the second soft polymeric organic substance have tensile modulus of 1 MPa or more and less than 100 MPa, and volume resistivity of 1×108 to 1013 Ω·cm, and the electrode is a fiber component subjected to electroconductive treatment. A robot hand includes the electrostatic attractor.