Versatile electrostatic transducers: experimental investigation into adhesion, sensing, energy generation, and actuation

Electrostatic Transducers (ESTs) are increasingly being utilized in various applications such as adhesive films, sensors, actuators, and energy generators. They operate based on electrostatic interaction within a dielectric medium and are advantageous due to high efficiency, low manufacturing cost, and low energy consumption. However, the need for high electric fields has posed material challenges that limit their development. Advances in manufacturing and novel dielectric materials, specifically Electro-active polymers (EAPs) are enabling progress in this technology. This thesis focuses on enhancing ESTs by exploring new designs, material selection, and manufacturing methods. An Electro-Adhesive Device (EAD) is introduced for gripper applications, capable of generating a pressure of 12kPa at an activation voltage of 9kV on a paper substrate. The EAD is tested on a DELTA robot to validate its practical application. The study also examines electrostatic sensors (ESSs), comparing parallel and interdigitated electrode configurations for capacitive bending sensors. Dielectric elastomer-based goniometer sensors (GDES) for human joint angle measurement and proximity bumper sensors for human-robot collision prevention are introduced. Performance metrics are empirically validated. An electric generator utilizing dielectric elastomers (DEG) is proposed for ocean wave energy harvesting. It features spray-coated, silicone-based electrodes and insulators and is characterized through wave-simulator and laboratory tests. The DEG shows energy conversion efficiencies exceeding 90% at 5kV and 75% at 15kV. Lastly, a linear Electrostatic Motor (ESM) is developed, featuring two passive slider configurations based on dielectric (DPS) and conductive (CPS) materials. Simulation and empirical tests demonstrate that the CPS configuration produces a consistent output force of 0.24N at a 2kV sine wave amplitude, and excellent speed tracking up to 36mm/s. Summarily, this thesis contributes to the field of ESTs by addressing several of the existing challenges, with a focus on device design, simulation, material selection, manufacturing processes, and test, paving the way for broader industrial applications.