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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Modeling and analysis of electrostatic force for robot handling of fabric materials
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Modeling and analysis of electrostatic force for robot handling of fabric materials

机译：用于机器人处理织物材料的静电力的建模和分析

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Electrostatic force has received considerable interest in recent years for handling small objects in microsystems and microengineering applications, but little work has been carried out to study its use in handling large-size objects. This paper discusses the principles of a robotic electrostatic gripping device for the handling of large-size fabric plies. A theory is derived to describe the dynamic behavior of the charging/discharging processes of the gripping surface. Mathematical equations are developed to relate the dynamic performance of the gripping force to the device's design parameters and the properties of materials being handled. An automated experimental process is employed to validate the theory. The theoretical modeling and analysis of the gripping force has allowed optimization of the gripper's design parameters for practical materials handling applications. The design and construction of an electrostatic gripper for fabric handling in aerospace applications are discussed.
机译：近年来，静电力对于处理微系统和微工程应用中的小物体引起了极大的兴趣，但是很少进行研究来研究其在处理大尺寸物体中的用途。本文讨论了用于处理大型织物帘布层的自动静电夹持装置的原理。推导了一种理论来描述抓握表面的充电/放电过程的动态行为。开发了数学方程式，以将抓取力的动态性能与设备的设计参数和所处理材料的特性相关联。采用自动实验过程来验证该理论。夹持力的理论建模和分析已允许针对实际物料搬运应用优化夹持器的设计参数。讨论了用于航空航天应用中的织物处理的静电夹持器的设计和构造。

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