Biobased and Programmable Electroadhesive Metasurfaces

Electroadhesion has shown the potential to deliver versatile handling devices because of its simplicity of actuation and rapid response. Current electroadhesion systems have, however, significant difficulties in adapting to external objects with complex shapes. Here, a novel concept of metasurface is proposed by combining the use of natural fibers (flax) and shape memory epoxy polymers in a hygromorphic and thermally actuated composite (HyTemC). The biobased material composite can be used to manipulate adhesive surfaces with high precision and controlled environmental actuation. The HyTemC concept is preprogrammed to store controllable moisture and autonomous desorption when exposed to the operational environment, and can reach predesigned bending curvatures up to 31.9 m^-1 for concave and 29.6 m^-1 for convex shapes. The actuated adhesive surface shapes are generated via the architected metasurface structure, incorporating an electroadhesive component integrated with the programmable biobased materials. This biobased metasurface stimulated by the external environment provides a large taxonomy of shapes─from flat, circular, single/double concave, and wavy, to piecewise, polynomial, trigonometric, and airfoil configurations. The objects handled by the biobased metasurface can be fragile because of the high conformal matching between contacting surfaces and the absence of compressive adhesion. These natural fiber-based and environmentally friendly electroadhesive metasurfaces can significantly improve the design of programmable object handling technologies, and also provide a sustainable route to lower the carbon and emission footprint of smart structures and robotics.

Limiting Mechanisms and Scaling of Electrostatically Controlled Adhesion of Soft Nanocomposite Surfaces for Robotic Gripping

Surfaces with switchable adhesive properties are employed by robots to quickly grip and release objects and thereby to perform dexterous manipulation and locomotion tasks. Robotic grippers with switchable adhesion have been developed using structured polymers and electrostatic mechanisms. However, manipulating delicate items can be challenging as this requires strong, switchable gripping forces that do not damage the target object. Soft nanocomposite electroadhesives (SNEs) were recently introduced as an option for handling such objects. The technology integrates an electrostatic adhesion mechanism into a mechanically compliant surface formed from dielectric-coated carbon nanotubes (CNTs) to ensure soft contact with target objects. In this study we explore the scaling of the electrostatic adhesion of SNEs, toward their potential application in macroscale grasping and manipulation. We measure electroadhesive pressures on millimeter-scale areas of up to ∼20 kPa with an on/off adhesion ratio of ∼700. Based on the measured forces and simple modeling, we conclude that the maximum achievable SNE adhesion forces are determined by dielectric breakdown in the insulating coating and surrounding air. Consequently, the SNE surface behaves as a parallel capacitor plate placed at an effective distance of 2.9 μm from the target object, despite being in contact with the target and therefore having the contacting CNTs separated from the surface by ∼2 nm dielectric coating. This mechanistic understanding of soft nanocomposite electroadhesives outlines the capabilities of the technology and informs their design for advanced manufacturing applications.