Seminar

Engineering HSR Seminar Series 13, 2013: Development of Medium Payload Mobile Robot with Electrostatic Adhesion Wall Climbing Mechanism

Mr Koh Keng Huat , Mechatronics Engineering postgraduate student


Date: 2013-03-08
Time: 14:00 to 15:00
Venue: Engineering Meeting Room 1, 5-4-22


Abstract

The essence of wall climbing robot research is the selection of adhesion and locomotive mechanism. Electrostatic adhesion (ESA) technique is chosen based on qualitative advantages. The parallel-plane capacitor model and comb electrode model both form the principles for ESA actuation mechanism. However these theoretical models are not validated. Preliminary tests with flexible printed circuits (FPCs) and Sample A both revealed the qualitative nature of the ESA phenomenon. It was found that the ESA force measured in experiments did not resemble the simulation values. Therefore parametric investigations were carried out, as to design and experiment with the thin film electrostatic adhesion actuators (TFEAAs) by isolating and controlling the test parameters. Dominant parameters that contribute to ESA force were identified. The evidence from these repeatable experiment results could develop towards a new empirical model for ESA actuation mechanism.

About the Speaker

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