Affiliation:
1. Department of Mechanical Engineering Stanford University Palo Alto 94301 USA
2. Department of Mechanical Engineering Seoul National University Seoul 08826 South Korea
3. Department of Radiology Stanford University Palo Alto 94301 USA
Abstract
AbstractThis work presents a new variation on electrostatic clutches that uses gecko‐inspired adhesives instead of friction for its braking force. As a result, it requires no power or normal pressure to remain engaged or disengaged. It requires only a brief pulse of voltage to switch states. In some applications, this capability is desirable for safety reasons. As an illustration, the clutch is incorporated into the needle‐driving axis of a magnetic resonance compatible teleoperated robotic system. Adding the clutch has no effect on imaging quality and provides a fail‐safe brake to prevent the needle axis from dropping in the event of a power failure. As a second application, the clutch is integrated into a force‐controlled robotic gripper where it allows the motor to be turned off while maintaining a static grasping force. In both applications, the 20 ms response time of the clutch prototypes is advantageous to prevent any motion immediately after receiving a braking command. This work additionally presents details on the design and manufacturing process of the gecko‐inspired clutch, including a new, non‐uniform profile for the microscopic adhesive features. The fabricated prototypes are thin (305 µm per layer) and flexible. They provide a controllable, adhesive braking force of 60 kPa per layer. Multiple layers can be assembled to increase the braking force.
Funder
National Science Foundation
Toyota Research Institute
Subject
Industrial and Manufacturing Engineering,Mechanics of Materials,General Materials Science
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