US 8,325,458 B2 · Electroadhesive gripping

Abstract

An electroadhesive gripping device or system includes a plurality of electroadhesive gripping surfaces, each having electrode(s) and each configured to be placed against respective surface regions of a foreign object, such that one or more electroadhesive forces can be provided between the electroadhesive gripping surfaces and the foreign object. Such electroadhesive forces operating to hold the foreign object against the electroadhesive gripping surfaces while the foreign object is held or moved by the electroadhesive gripping system. The electroadhesive gripping surfaces can be arranged onto a plurality of continuous fingers, and various gripping surfaces on each finger can be coupled together and manipulated with respect to each other by an actuating component, such as a cable actuator. A variable voltage can be delivered to the electrodes to control the amount of electroadhesive force generated, such that only a portion of a foreign object is held or moved.

Claims33

Dependent claims

An electroadhesive gripping system, comprising:

a first electroadhesive end effector having a first electroadhesive gripping surface configured to be placed against a first surface region of a foreign object, said first electroadhesive gripping surface including at least one electrode;
and
a second electroadhesive end effector having a second electroadhesive gripping surface configured to be placed against a second surface region of the foreign object, said second electroadhesive gripping surface including at least one electrode, wherein said first and second electroadhesive end effectors are adapted to move independently with respect to each other, and wherein said first and second electroadhesive gripping surfaces combine to provide an overall electroadhesive force that operates to hold the foreign object against said first and second electroadhesive gripping surfaces while the foreign object is controlled by the electroadhesive gripping system.

An electroadhesive gripper, comprising:

a first electroadhesive gripping surface configured to be placed against a first surface region of a foreign object, said first electroadhesive gripping surface including at least one electrode;
and
a second electroadhesive gripping surface configured to be placed against a second surface region of the foreign object, said second electroadhesive gripping surface including at least one electrode, wherein said first and second electroadhesive gripping surfaces are separate and distinct with respect to each other, and wherein said first and second electroadhesive gripping surfaces combine to provide an overall electroadhesive force that operates to hold the foreign object against said first and second electroadhesive gripping surfaces while the foreign object is held, moved or manipulated by the electroadhesive gripper.

Dependencies are inferred from the claim text.

Electroadhesive gripping

Life of this patent

Electroadhesive gripping

Life of this patent

Abstract

Claims33