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Abstract Clutches are integral components in robotic systems, enabling programming of system stiffness and precise control over a wide range of motion types. While different types of clutches exist, electroadhesive (EA) clutches present several key advantages, such as flexibility, low mass, low power consumption, simplicity, and fast response. Achieving high EA stress in EA clutches has remained a challenge, however, necessitating high voltage input or a large contact area to achieve the desired force. In this work, an EA clutch is proposed with a high EA stress achieved by taking fracture mechanics into account and using a high dielectric composite layer while still maintaining a comparable high switching speed to other dielectric‐based EA clutches. The maximum EA stress is observed to be 108.8 N cm−2, which is four times larger than what has been reported previously among dielectric‐based EA clutches at room temperature. This high EA stress clutch can facilitate miniaturization and lower the operating voltage as well as extend to high load capacity applications. The proposed approach holds promise for advancements in various domains, including haptics (both kinesthetic and cutaneous), exoskeletons, walking robots, and other systems that require compliance, low mass, and precise force control.
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A Low‐Voltage, High‐Force Capacity Electroadhesive Clutch Based on Ionoelastomer Heterojunctions
Electroadhesive devices with dielectric films can electrically program changes in stiffness and adhesion, but require hundreds of volts and are subject to failure by dielectric breakdown. Recent work on ionoelastomer heterojunctions has enabled reversible electroadhesion with low voltages, but these materials exhibit limited force capacities and high detachment forces. It is a grand challenge to engineer electroadhesives with large force capacities and programmable detachment at low voltages (<10 V). In this work, tough ionoelastomer/metal mesh composites with low surface energies are synthesized and surface roughness is controlled to realize sub‐ten‐volt clutches that are small, strong, and easily detachable. Models based on fracture and contact mechanics explain how clutch compliance and surface texture affect force capacity and contact area, which is validated over different geometries and voltages. These ionoelastomer clutches outperform the best existing electroadhesive clutches by fivefold in force capacity per unit area (102 N cm^-2), with a 40‐fold reduction in operating voltage (± 7.5 V). Finally, the ability of the ionoelastomer clutches to resist bending moments in a finger wearable and as a reversible adhesive in an adjustable phone mount is demonstrated.
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- Award ID(s):
- 1935294
- PAR ID:
- 10476826
- Publisher / Repository:
- Wiley
- Date Published:
- Journal Name:
- Advanced Materials
- Volume:
- 35
- Issue:
- 46
- ISSN:
- 0935-9648
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
-
Accepted Manuscript
- Journal Article:
- https://doi.org/10.1002/adma.202304455
