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1. 发明申请

WO2012096982A4 ELECTROADHESIVE SYSTEM FOR CAPTURING OBJECTS 审中-公开
标题翻译：用于拍摄物体的电磁粘合系统
公开(公告)号：WO2012096982A4
公开(公告)日：2012-09-07
申请号：PCT/US2012020810
申请日：2012-01-10
申请人： STANFORD RES INST INT , PRAHLAD HARSHA E , GOFF JONATHAN A , LEVEQUE LYLE , WONG-FOY ANNJOE , WILLIAMS SCOTT , PELRINE RONALD E
发明人： PRAHLAD HARSHA E , GOFF JONATHAN A , LEVEQUE LYLE , WONG-FOY ANNJOE , WILLIAMS SCOTT , PELRINE RONALD E
IPC分类号： H02N13/00
CPC分类号： H02N13/00 , B64G1/646
摘要： A "sticky boom" system facilitates physical control of foreign objects, such as those in a zero-gravity environment. The electroadhesive system includes an electrostatic adhesion pad that electrostatically and detachably adheres to a separate foreign object, as well as a boom coupled to the pad. The pad includes electrode(s) adapted to produce an electrostatic force between the pad and the object that maintains the position of the pad relative to the object. The boom provides control for positioning the pad relative to the object and also for movement of the pad and object combination when they are electrostatically adhered together. A sensing component detects when the pad is adhered to the foreign object, and a control mechanism coupled to the boom allows for control of the pad and object at a remote distance. Multiple foreign objects can be adhered simultaneously. Control can include location and/or rotational movement or deceleration of objects.
摘要翻译： “粘稠繁荣”系统有助于对异物（例如零重力环境中的异物）进行物理控制。电粘附系统包括静电和可拆卸地粘附到分离的异物的静电粘附垫，以及连接到垫上的悬臂。垫包括适于在垫和物体之间产生静电力的电极，其维持垫相对于物体的位置。吊杆提供控制，以便相对于物体定位衬垫，并且还用于在衬垫和物体组合静电粘附在一起时移动衬垫和物体组合。感测部件检测垫何时粘附到异物，并且连接到动臂的控制机构允许在远处控制垫和物体。可以同时粘附多个异物。控制可以包括物体的位置和/或旋转运动或减速。

2. 发明申请

WO2011100028A1 ELECTROADHESIVE GRIPPING 审中-公开
标题翻译：电动抓斗
公开(公告)号：WO2011100028A1
公开(公告)日：2011-08-18
申请号：PCT/US2010/060267
申请日：2010-12-14
申请人： SRI INTERNATIONAL , PRAHLAD, Harsha, E. , PELRINE, Ronald, E. , GARCIA, Pablo, E. , MAHONEY, Richard , ECKERLE, Joseph, S.
发明人： PRAHLAD, Harsha, E. , PELRINE, Ronald, E. , GARCIA, Pablo, E. , MAHONEY, Richard , ECKERLE, Joseph, S.
IPC分类号： B25J15/00 , H02N13/00
CPC分类号： B25J15/00 , B25J15/0085
摘要： 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.
摘要翻译：电粘合夹持装置或系统包括多个电粘附的抓握表面，每个具有电极并且各自构造成抵靠异物的相应表面区域放置，使得可以在电粘附的抓持表面之间提供一个或多个电粘附力和异物。这种电粘附力用于在异物通过电粘合夹持系统保持或移动的同时将异物抵靠在电粘合的抓持表面上。电粘合抓握表面可以布置在多个连续的指状物上，每个手指上的各种抓握表面可以通过诸如电缆致动器的致动部件相互联接在一起并进行操纵。可以将电压输送到电极以控制产生的电粘附力的量，使得只有一部分异物被保持或移动。

3. 发明申请

WO2012096982A1 ELECTROADHESIVE SYSTEM FOR CAPTURING OBJECTS 审中-公开
标题翻译：用于捕获物体的电子系统
公开(公告)号：WO2012096982A1
公开(公告)日：2012-07-19
申请号：PCT/US2012/020810
申请日：2012-01-10
申请人： SRI INTERNATIONAL , PRAHLAD, Harsha E. , GOFF, Jonathan A. , LEVEQUE, Lyle , WONG-FOY, Annjoe , WILLIAMS, Scott , PELRINE, Ronald E.
发明人： PRAHLAD, Harsha E. , GOFF, Jonathan A. , LEVEQUE, Lyle , WONG-FOY, Annjoe , WILLIAMS, Scott , PELRINE, Ronald E.
IPC分类号： H02N13/00
CPC分类号： H02N13/00 , B64G1/646
摘要： A "sticky boom" system facilitates physical control of foreign objects, such as those in a zero-gravity environment. The electroadhesive system includes an electrostatic adhesion pad that electrostatically and detachably adheres to a separate foreign object, as well as a boom coupled to the pad. The pad includes electrode(s) adapted to produce an electrostatic force between the pad and the object that maintains the position of the pad relative to the object. The boom provides control for positioning the pad relative to the object and also for movement of the pad and object combination when they are electrostatically adhered together. A sensing component detects when the pad is adhered to the foreign object, and a control mechanism coupled to the boom allows for control of the pad and object at a remote distance. Multiple foreign objects can be adhered simultaneously. Control can include location and/or rotational movement or deceleration of objects.
摘要翻译： “粘性吊杆”系统有助于物理控制异物，如零重力环境中的物体。电粘合系统包括静电和可拆卸地粘附到单独的异物的静电粘合垫，以及耦合到垫的吊杆。垫包括适于在垫和物体之间产生静电力以保持垫相对于物体的位置的电极。起重臂提供了用于将垫相对于物体定位的控制，并且当它们被静电粘合在一起时也用于移动垫和物体组合。感测部件检测焊盘何时粘附到异物，并且耦合到起重臂的控制机构允许在远程距离处控制焊盘和物体。可以同时粘附多种异物。控制可以包括物体的位置和/或旋转运动或减速。

4. 发明申请

WO2011116357A3 ELECTROADHESIVE DEVICE, METHOD OF ADHERING A DEVICE AND ELECTROLAMINATE SYSTEM 审中-公开
标题翻译：电子装置，装置和电解质体系的方法
公开(公告)号：WO2011116357A3
公开(公告)日：2011-11-24
申请号：PCT/US2011029101
申请日：2011-03-18
申请人： STANFORD RES INST INT , PRAHLAD HARSHA E , PELRINE RONALD E , WONG-FOY ANNJOE , KORNBLUH ROY D , MCCOY BRIAN K
发明人： PRAHLAD HARSHA E , PELRINE RONALD E , WONG-FOY ANNJOE , KORNBLUH ROY D , MCCOY BRIAN K
IPC分类号： H02N13/00
CPC分类号： H02N13/00
摘要： An electroadhesive device includes an outer surface adapted to interface with a surface of a foreign substrate, a plurality of electrodes (18), and a semi-conductive insulation material (20) disposed adjacent to at least one of the electrodes (18). Each electrode (18) has a respective conductive volume and is configured to apply a voltage at a respective location of the outer surface, and the difference in voltage between applied voltages includes an electrostatic adhesion voltage that produces an electrostatic force between the device and the substrate (16) that is suitable to maintain a current position of the device relative to the substrate (16). The insulation material (20) can be polyurethane or any other suitable material having a resistance of about 109 to 1012 ohms*m. The insulation material effectively operates to expand the conductive volume of the electrodes (18) when they are actuated.
摘要翻译：一种电子粘合装置包括适于与异物衬底的表面相接合的外表面，多个电极（18）和邻近于至少一个电极（18）设置的半导电绝缘材料（20）。每个电极（18）具有相应的导电体积并且被配置为在外表面的相应位置处施加电压，并且施加的电压之间的电压差包括在器件和衬底之间产生静电力的静电粘附电压（16），其适于保持所述装置相对于所述基板（16）的当前位置。绝缘材料（20）可以是聚氨酯或具有约109至1012欧姆·米的电阻的任何其它合适的材料。绝缘材料有效地操作以在电极（18）被致动时扩大电极（18）的导电体积。

5. 发明申请

WO2011116357A2 MATERIALS FOR ELECTROADHESION AND ELECTROLAMINATES 审中-公开
标题翻译：电镀和电解质材料
公开(公告)号：WO2011116357A2
公开(公告)日：2011-09-22
申请号：PCT/US2011/029101
申请日：2011-03-18
申请人： SRI INTERNATIONAL , PRAHLAD, Harsha E. , PELRINE, Ronald E. , WONG-FOY, Annjoe , KORNBLUH, Roy D. , MCCOY, Brian K.
发明人： PRAHLAD, Harsha E. , PELRINE, Ronald E. , WONG-FOY, Annjoe , KORNBLUH, Roy D. , MCCOY, Brian K.
IPC分类号： H02N13/00
CPC分类号： H02N13/00
摘要： An electroadhesive device includes an outer surface adapted to interface with a surface of a foreign substrate, a plurality of electrodes, and a semi-conductive insulation material disposed adjacent to at least one of the electrodes. Each electrode has a respective conductive volume and is configured to apply a voltage at a respective location of the outer surface, and the difference in voltage between applied voltages includes an electrostatic adhesion voltage that produces an electrostatic force between the device and the substrate that is suitable to maintain a current position of the device relative to the substrate. The insulation material can be polyurethane or any other suitable material having a resistance of about 10 9 to 10 12 ohms*m. The insulation material effectively operates to expand the conductive volume of the electrodes when they are actuated.
摘要翻译：电子粘合装置包括适于与外来基板的表面，多个电极以及邻近于至少一个电极设置的半导电绝缘材料相接合的外表面。每个电极具有相应的导电体积并且被配置为在外表面的相应位置处施加电压，并且施加的电压之间的电压差包括静电粘附电压，其在器件和衬底之间产生适当的静电力以保持器件相对于衬底的当前位置。绝缘材料可以是聚氨酯或具有约109至1012欧姆·米的电阻的任何其它合适的材料。绝缘材料有效地操作以在电极致动时扩大电极的导电体积。

6. 发明申请

WO2012129541A3 ACTIVE ELECTROADHESIVE CLEANING 审中-公开
公开(公告)号：WO2012129541A3
公开(公告)日：2012-09-27
申请号：PCT/US2012/030454
申请日：2012-03-23
申请人： SRI INTERNATIONAL , PRAHLAD, Harsha, E. , PELRINE, Ronald, E. , VON GUGGENBERG, Philip, A. , KORNBLUH, Roy, D. , MCCOY, Brian, K. , IGUIDER, Youssef
发明人： PRAHLAD, Harsha, E. , PELRINE, Ronald, E. , VON GUGGENBERG, Philip, A. , KORNBLUH, Roy, D. , MCCOY, Brian, K. , IGUIDER, Youssef
IPC分类号： B08B6/00
摘要： An active electroadhesive cleaning device or system includes electrode(s) that produce electroadhesive forces from an input voltage to adhere dust or other foreign objects against an interactive surface, from which the foreign objects are removed when the forces are controllably altered. User inputs control the input voltage and/or designate the size of foreign objects to be cleaned. An active power source provides the input voltage, and the interactive surface can be a continuous track across one or more rollers to move the device across a dirty foreign surface. Electrodes can be arranged in an interdigitated pattern having differing pitches that can be actuated selectively to clean foreign objects of different sizes. Sensors can detect the amount of foreign particles adhered to the interactive surface, and reversed polarity pulses can help repel items away from the interactive surface in a timely and controlled manner.

7. 发明申请

WO2012129541A2 ACTIVE ELECTROADHESIVE CLEANING 审中-公开
标题翻译：主动电泳清洁
公开(公告)号：WO2012129541A2
公开(公告)日：2012-09-27
申请号：PCT/US2012030454
申请日：2012-03-23
申请人： STANFORD RES INST INT , PRAHLAD HARSHA E , PELRINE RONALD E , VON GUGGENBERG PHILIP A , KORNBLUH ROY D , MCCOY BRIAN K , IGUIDER YOUSSEF
发明人： PRAHLAD HARSHA E , PELRINE RONALD E , VON GUGGENBERG PHILIP A , KORNBLUH ROY D , MCCOY BRIAN K , IGUIDER YOUSSEF
IPC分类号： B08B6/00
CPC分类号： B08B6/00 , A47L13/40 , A47L25/005 , B03C7/023 , B08B7/00
摘要： An active electroadhesive cleaning device or system includes electrode(s) that produce electroadhesive forces from an input voltage to adhere dust or other foreign objects against an interactive surface, from which the foreign objects are removed when the forces are controllably altered. User inputs control the input voltage and/or designate the size of foreign objects to be cleaned. An active power source provides the input voltage, and the interactive surface can be a continuous track across one or more rollers to move the device across a dirty foreign surface. Electrodes can be arranged in an interdigitated pattern having differing pitches that can be actuated selectively to clean foreign objects of different sizes. Sensors can detect the amount of foreign particles adhered to the interactive surface, and reversed polarity pulses can help repel items away from the interactive surface in a timely and controlled manner.
摘要翻译：活性电粘附清洁装置或系统包括从输入电压产生电粘附力以将灰尘或其它异物粘附到相互作用表面的电极，当可控地改变力时异物被去除。用户输入控制输入电压和/或指定待清洁的异物的大小。有源电源提供输入电压，并且交互式表面可以是跨越一个或多个辊的连续轨道，以使设备移动穿过脏的外来表面。电极可以布置成具有不同间距的交错图案，其可选择性地被致动以清洁不同尺寸的异物。传感器可以检测附着在交互式表面上的外来颗粒的数量，并且反向的极性脉冲可以有助于以及时和受控的方式将物品从交互式表面上排除。

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