The Research And Application About Adsorption Performance Of Composite Electrode Array

To achieve the function of the climbing, robot must have the equipment which can produce adsorption capacity as support. With the enlargement of the robot application scope and complicated of the operation environment, the requirement of adsorption technology has been becoming more and more high. So the design of a security and stability, low noise, low power consumption, wide range of application backgrounds and easy to design is the research goal of most climbing robot developers. Because the electrostatic adsorption it has the above advantages has become a research hotspot in recent years.In this article, on the basis of electrostatic adhesion theory, further analyses of performance of the electrode array were implemented. Then the parameters and properties of bipolar coplanar comb electrodes array were optimized according to the structure of the electrode adhesion array. Subsequently, the "Sieve bottom"-shaped adhesion force output model was proposed and constructed according to the characteristics of the comb electric field distribution. Then comparative analysis of characteristics and performance was performed about the "Sieve bottom"-shaped and the comb adsorption force model, which provided a theoretical basis for high performance of electrostatic chuck design. Finally, 12 groups electrode array of "Sieve bottom"-shaped and comb electrostatic chuck were designed and tested on different substrates. The experimental data shows that the performance of electrostatic chuck is greatly enhanced and the optimization effect is obvious which lays the foundation for the design of the high-performance electrode array. Finally, an electric adsorption climbing system is designed, in the design used the wireless transmission technology of electric power, to realize the physical isolation of high voltage and low voltage system. Then, a handheld wireless controller is designed to control the electrostatic adsorption climbing robot. The controller embedded a real-time operating system of UCOS-II. Then climbing on the wall for the test, verify the electrode array optimization effect and the whole machine performance.Electrostatic adsorption as a new technology has many advantages and broad application prospect, but it’s still immature. Such as adsorption force is relatively small, adsorption force "on/off" controllability, self-cleaning ability, cross obstacle ability all needs further research.