Johnsen-Rahbek Capstan Clutch: A High Torque Electrostatic Clutch
Fuente:
arXiv
Guardado en:
| Autores principales: | , , , , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2023
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866916356142661632 |
|---|---|
| author | Amish, Timothy E. Auletta, Jeffrey T. Kessens, Chad C. Smith, Joshua R. Lipton, Jeffrey I. |
| author_facet | Amish, Timothy E. Auletta, Jeffrey T. Kessens, Chad C. Smith, Joshua R. Lipton, Jeffrey I. |
| contents | In many robotic systems, the holding state consumes power, limits operating time, and increases operating costs. Electrostatic clutches have the potential to improve robotic performance by generating holding torques with low power consumption. A key limitation of electrostatic clutches has been their low specific shear stresses which restrict generated holding torque, limiting many applications. Here we show how combining the Johnsen-Rahbek (JR) effect with the exponential tension scaling capstan effect can produce clutches with the highest specific shear stress in the literature. Our system generated 31.3 N/cm^2 sheer stress and a total holding torque of 7.1 Nm while consuming only 2.5 mW/cm^2 at 500 V. We demonstrate a theoretical model of an electrostatic adhesive capstan clutch and demonstrate how large angle (theta > 2pi) designs increase efficiency over planar or small angle (theta < pi) clutch designs. We also report the first unfilled polymeric material, polybenzimidazole (PBI), to exhibit the JR-effect. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2312_12566 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Johnsen-Rahbek Capstan Clutch: A High Torque Electrostatic Clutch Amish, Timothy E. Auletta, Jeffrey T. Kessens, Chad C. Smith, Joshua R. Lipton, Jeffrey I. Robotics Systems and Control In many robotic systems, the holding state consumes power, limits operating time, and increases operating costs. Electrostatic clutches have the potential to improve robotic performance by generating holding torques with low power consumption. A key limitation of electrostatic clutches has been their low specific shear stresses which restrict generated holding torque, limiting many applications. Here we show how combining the Johnsen-Rahbek (JR) effect with the exponential tension scaling capstan effect can produce clutches with the highest specific shear stress in the literature. Our system generated 31.3 N/cm^2 sheer stress and a total holding torque of 7.1 Nm while consuming only 2.5 mW/cm^2 at 500 V. We demonstrate a theoretical model of an electrostatic adhesive capstan clutch and demonstrate how large angle (theta > 2pi) designs increase efficiency over planar or small angle (theta < pi) clutch designs. We also report the first unfilled polymeric material, polybenzimidazole (PBI), to exhibit the JR-effect. |
| title | Johnsen-Rahbek Capstan Clutch: A High Torque Electrostatic Clutch |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2312.12566 |