Engineering HDR Seminar Series 15, 2011: Development of Medium Payload Mobile Robot with Electrostatic Adhesion Wall Climbing Mechanism

Mr Koh Keng Huat, RAM postgraduate student

Date: 2011-11-29
Time: 09:30 to 10:30
Venue: Meeting room 1, 5-4-22, School of Engineering


Climbing is one of the most dangerous tasks for humans and thus in the past few decades wall climbing robots (WCR) have been developed for wide range of applications. This seminar begins with the review of wall surface adhesion mechanisms for WCR. Based on qualitative advantages, electrostatic adhesion (ESA) technique is chosen for further investigation. Preliminary research has arrived at a model of inter-digited comb electrode (Electrostatic Pad) which accounts for both parallel-plane and fringing static fields. The model yields equations and parameters that govern the ESA force. The model yields equations governing the ESA force and the geometrical conditions for maximum ESA pressure per pad area. Parameters such as applied voltage, geometrical properties, compliance to wall surface, and material properties do affect the ESA force. The simulation shows that fringing static fields will always contribute to the total ESA force in such capacitance system, in a various amount of percentage according to the aspect ratio of comb electrode.

About the Speaker

Mr Koh Keng Huat graduated with the Bachelor of Engineering (Mechatronics) from Monash University Gippsland Campus. He joined the School of Engineering in December 2010 for the Master of Engineering Science (Research). His research interest is robotics, in particular wall climbing robot and its climbing mechanism.