Research on Electrostatic Adsorption Gripping Technology Based on Blended Plain Fabrics
In order to realize the robot to better gripping of the blended plain fabrics,the electrostatic adsorption gripping technology was studied.Firstly,by analyzing the structural characteristics of blended plain fabrics,the three-dimensional model and equivalent dielectric constant calculation model of blended plain fabrics were established,and the force condition on the fabrics in the electric field was studied;secondly,combined with the Maxwell stress tensor calculation method,the two-dimensional electrostatic adsorption model was established.The adsorption force generated by electrostatic electrodes with different configurations was used for guiding the structural design of electrostatic electrodes'configurations.The results show that the equivalent dielectric constant of the fabric is related to the volume fraction and distribution pattern of each fiber;The electrostatic adsorption force on the fabric increases with the increase of the voltage applied by the pole plate and is proportional to its square,which verifies the validity of the effectiveness of using electrostatic adsorption for fabric gripping;and the optimal pole plate structure is determined by comparing the adsorption effects of the pole plates of different configuration types.This study provides an important reference for the application of electrostatic adsorption technology in the field of garment fabric gripping.
万方数据
维普
