Pixelated Electrostatic Gripper Control for Selective Adhesion
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Solution Overview
Problem
Conventional electrostatic gripper systems face challenges in selectively grasping and moving delicate materials without damaging them, as they often require high voltage levels and cannot distinguish between objects, leading to non-selective adhesion and potential damage to materials like dry carbon fiber ply.
Innovation Solution
A control unit and method that utilize a pixelated electrostatic adhesion system with individually controllable electrodes, allowing for selective voltage application and polarity reversal to grip and release objects, enabling precise control over electrostatic adhesion and reducing the risk of damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If conventional vacuum-based systems are used to move delicate materials, then the materials can be moved automatically, but the vacuum force may damage the material by exerting excessive force
Solution Approach 1:
The end effector is divided into multiple independently controllable vacuum zones or chambers, each capable of being activated or deactivated separately. This segmentation allows the system to apply vacuum force only to specific areas where objects are present, reducing overall force distribution and preventing damage to delicate materials while maintaining automated handling capability
Solution Approach 2:
The vacuum force is made locally controllable through individual zone control, allowing different regions of the end effector to have different vacuum states. This enables precise application of holding force only where needed, avoiding excessive force on delicate materials while maintaining automation
2Force
If conventional electrostatic end effectors are used, then grip strength can be improved, but the system cannot selectively grasp specific objects, leading to non-selective adhesion
Solution Approach 1:
The electrostatic end effector surface is segmented into multiple independently addressable electrode regions or pixels. Each region can be controlled individually through separate control circuits, enabling selective activation of specific areas to grasp only desired objects while leaving others unaffected, thus achieving both strong grip and selective grasping capability
Solution Approach 2:
The electrostatic field distribution is made dynamically controllable through individual electrode control, allowing the system to adapt the grip pattern in real-time based on object location and characteristics. This dynamic control enables selective adhesion to specific objects while maintaining strong grip strength where needed
3Reliability
If vacuum sources are used to maintain vacuum for each area, then objects can be held securely, but the system requires large energy consumption and generates loud noise
Solution Approach 1:
The vacuum system is segmented into multiple independently controllable zones, allowing the vacuum pump to maintain vacuum only in active regions where objects are present. This reduces the total volume requiring vacuum maintenance, thereby lowering energy consumption and noise generation while maintaining secure object holding in active zones
Solution Approach 2:
The vacuum zones are activated and deactivated periodically based on object presence and movement requirements. By cycling vacuum application only when and where needed, the system maintains reliable object holding during active phases while minimizing energy consumption and noise during transition or idle phases
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 system improves grip strength, enables faster object release, and enhances discretion in grasping different objects, reducing the risk of damage and energy consumption while allowing for precise movement of delicate materials.
Implementation Method 1
a gripper apparatus, configured to electrostatically grasp an object via a plurality of electrodes
Implementation Method 2
release the object from the gripper apparatus by: applying the voltage according to a third duty cycle, different from the first duty cycle, to the first subset of the individual electrodes; and applying the voltage according to a fourth duty cycle, different from the second duty cycle, to the second subset of the individual electrodes
Data Source
AI summary
Control for pixelated electrostatic adhesion can be provided by a voltage converter configured to increase an input voltage to an output voltage; a first gripping circuit, configured to selectively provide the output voltage at a first polarity to a first subset of electrodes of a plurality of electrodes; a second gripping circuit, configured to selectively provide the output voltage at a second polarity opposite to the first polarity to a second subset of electrodes of a plurality of electrodes that are associated with and different from the first subset of electrodes; a first release circuit, configured to selectively reverse the output voltage provided to the first subset of electrodes to the second polarity; and a second release circuit, configured to selectively reverse the output voltage provided to the second subset of electrodes to the first polarity.