Rotary electroadhesive clutch
An electroadhesive clutch using a ceramic-based dielectric layer separating opposing clutch plates, which function as electrodes. At least one of the clutch plates can be a flexible material, such as a thin film. A voltage applied across the electrodes creates an electrostatic attraction between the electrodes. The ceramic-based dielectric layer can be applied to one or both electrodes or, alternatively, placed between opposing electrodes. The ceramic-based dielectric reduces the voltage required to adhere adjacent plates, while also improving the force of adhesion. A rotary electroadhesive clutch using the ceramic-based dielectric provides improved force of adhesion and can be used to control the amount of torque transferred from an input to an output.
1. A rotary electroadhesive clutch comprising:
a first set of clutch members, wherein the first set of clutch members are electrically conductive;
a second set of clutch members interposed between the first set of clutch members, wherein the second set of clutch members are electrically conductive; and
a dielectric material separating each clutch member of the first set of clutch members from an adjacent member of the second set of clutch members,
wherein at least one of the first set of clutch members and the second set of clutch members comprises a flexible film, membrane, or sheet, in which the flexible film, membrane, or sheet is selectively or uniformly attached to a structural frame using pressure sensitive adhesive, selective sintering, welding, rivets, swages, bolts, heat stakes, stitches, adhesives, or epoxies.
2. The rotary electroadhesive clutch of claim 1 , wherein the clutch members are circular and are aligned parallel to one another along an axis.
3. The rotary electroadhesive clutch of claim 2 , wherein the first set of clutch members and the second set of clutch members alternate along the axis such that each clutch member of the first set adheres to two members of the second set when a voltage is applied.
4. The rotary electroadhesive clutch of claim 3 , wherein the first set of clutch members and the second set of clutch members are compressed in an axial direction.
5. The rotary electroadhesive clutch of claim 3 , wherein the first set of clutch members and the second set of clutch members are compressed using a bolt, rivet, or a fastener.
6. The rotary electroadhesive clutch of claim 2 , wherein each of the first set of clutch members adheres to two members from the second set, each of which is directly adjacent to the member from the first set.
7. The rotary electroadhesive clutch of claim 6 , wherein alignment of the clutch pairs is achieved using at least one of a shoulder or retaining ring located on the housing or shaft.
8. The rotary electroadhesive clutch of claim 1 , wherein the first set of clutch members is constrained in rotation relative to a housing, and the second set of clutch members is constrained in rotation relative to a shaft.
9. The rotary electroadhesive clutch of claim 8 , wherein the second set of clutch members transmits torque to the shaft and the first set of clutch members transmits torque to the housing through mating features that fit through holes in the clutch members, connections, or friction surfaces.
10. The rotary electroadhesive clutch of claim 1 , wherein the structural frame comprises a material selected from the group consisting of fiberglass, carbon fiber, plastic, wood, paper, resin, cast epoxy, ceramic, a friction material, metal, or any combination of the foregoing.
11. The rotary electroadhesive clutch of claim 10 , further comprising:
an electrical connection from the voltage source to the clutch member, wherein the electrical connection is integrated into the structural frame or positioned on a surface of the structural frame.
12. The rotary electroadhesive clutch of claim 1 , further comprising:
an electrical connection between the voltage source and the clutch members, wherein the electrical connection is transmitted through an electrically conductive housing and/or an electrically conductive shaft in mechanical contact with a conductive surface of the clutch members.
13. The rotary electroadhesive clutch of claim 1 , further comprising:
an electrical connection, wherein the electrical connection between the voltage source and the clutch members is transmitted through a rigid or flexible wire, ribbon cable, flat flex cable, printed circuit board, slip ring, conductive spacers, or similar electrical connection.
14. The rotary electroadhesive clutch of claim 1 , further comprising:
an electrical connection, wherein the electrical connection between the voltage source and the clutch members is transmitted through a conductive brush, spring finger, spring-loaded pin, conductive washer, ring shim, battery contact, conductive gasket, conductive clip, swage, eyelet, non-conductive clamp holding two conductive surfaces in contact, conductive pressure-sensitive adhesive, conductive epoxy, or soldering.
15. The rotary electroadhesive clutch of claim 1 , further comprising:
an electrical via, wherein the electrical via creates an electrical connection between a single insulating layer, multiple insulating layers, or physically separate electrically conductive surfaces.
16. A rotary electroadhesive clutch comprising:
a first set of clutch members, wherein the first set of clutch members are electrically conductive;
a second set of clutch members interposed between the first set of clutch members, wherein the second set of clutch members are electrically conductive;
a dielectric material separating each clutch member of the first set of clutch members from an adjacent member of the second set of clutch members;
a structural frame;
an aperture in a perimeter of the structural frame; and
an extension of the flexible film, wherein the extension passes from one side of the structural frame to the other through the aperture in order to enable an electrical connection to prevent contact between the electrically conductive portions of the first set of clutch members to electrically conductive portions of the second set of clutch members,
wherein at least one of the first set of clutch members and the second set of clutch members comprises a flexible film, membrane, or sheet, in which the flexible film, membrane, or sheet is selectively or uniformly attached to the structural frame.
17. The rotary electroadhesive clutch of claim 16 ,
wherein the electrical connection is integrated into the structural frame or positioned on a surface of the structural frame, and
wherein the structural frame comprises a material selected from the group consisting of fiberglass, carbon fiber, plastic, wood, paper, resin, cast epoxy, ceramic, a friction material, metal, or any combination of the foregoing.
18. A rotary electroadhesive clutch comprising:
a first set of clutch members, wherein the first set of clutch members are electrically conductive;
a second set of clutch members interposed between the first set of clutch members, wherein the second set of clutch members are electrically conductive;
a dielectric material separating each clutch member of the first set of clutch members from an adjacent member of the second set of clutch members;
a structural frame;
an opening, a slit, or an aperture in the structural frame; and
an extension of the flexible film, wherein the extension passes from one side of the structural frame to the other in order to enable an electrical connection to prevent contact between the electrically conductive portions of the first set of clutch members to electrically conductive portions of the second set of clutch members,
wherein at least one of the first set of clutch members and the second set of clutch members comprises a flexible film, membrane, or sheet, in which the flexible film, membrane, or sheet is selectively or uniformly attached to the structural frame.
19. The rotary electroadhesive clutch of claim 18 ,
wherein the electrical connection is integrated into the structural frame or positioned on a surface of the structural frame, and
wherein the structural frame comprises a material selected from the group consisting of fiberglass, carbon fiber, plastic, wood, paper, resin, cast epoxy, ceramic, a friction material, metal, or any combination of the foregoing.