Vacuum-environment robot with integrated payload gripper

A method, comprising:

• providing a drive;
• providing a movable arm connected to the drive, the movable arm comprising,
• a first link rotatable about the drive at a first rotary joint,
• a first actuator configured to cause a rotation of the first link about the first rotary joint,
• at least one second link connected to the first link at a second rotary joint,
• at least one second actuator configured to cause a rotation of the at least one second link about the second rotary joint, and
• at least one gripper on the at least one second link, the at least one gripper comprising,
• a dielectric substrate, and
• at least one electrode disposed on the dielectric substrate;
• applying a voltage to the at least one electrode with a main electronic module, from a source of current, to cause a charge migration from the at least one electrode to the dielectric substrate to produce an attractive force on the surface of the dielectric substrate to cause an attractive force between the dielectric substrate and a payload adjacent to the dielectric substrate and to be carried by the at least one gripper and to produce a control signal;
• and
• controlling the voltage to the at least one electrode using an auxiliary electronic module to control the attractive force between the dielectric substrate and the payload;
• and
• controlling the produced control signal from the main electronic module to detect the payload, assess a quality of the at least one gripper on the payload, and communicate a status of the payload to the main electronic module.

An apparatus, comprising:

• at least one processor;
• and
• at least one non-transitory memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to perform:
• applying a voltage to at least one electrode with a first electronic module, from a source of current, to produce an attractive force on a surface of the electrode to cause a charge migration from the electrode to a low resistivity dielectric material of at least one gripper to cause an attraction between the low resistivity dielectric material and a surface of a payload adjacent to the low resistivity dielectric material, wherein the payload is configured to be carried by the at least one gripper, and to produce a control signal;
• and
• controlling the voltage to the at least one electrode using a second electronic module to control the attractive force on the surface of the electrode;
• and
• controlling the produced control signal from the first electronic module to detect the payload, assess a quality of the at least one gripper on the payload, and communicate a status of the payload to the first electronic module.

A method of using a robot to transport a payload, the method comprising:

• applying a voltage, from a source of current and using a main electronic module, to an electrode located within a gripper, the gripper being located on a robot end-effector, wherein applying the voltage causes a first distribution of charges on the electrode to cause a charge migration from the electrode to a material of the gripper;
• placing the payload on the material of the gripper;
• causing a second distribution of charges on the payload, wherein the charges on the payload are opposite in polarity to the charges on the material of the gripper;
• attracting the payload to the material of the gripper;
• causing the robot end-effector to transport the payload;
• and
• controlling the voltage to the electrode located within the gripper using an auxiliary electronic module to control the charge migration from the electrode to the material of the gripper;
• and
• controlling a signal from the main electronic module to detect a payload, assess a quality of the gripper on the payload, and communicate a status of the payload to the main electronic module.