Electrostatic clutch

• US 10,355,624 B2
• Filed: 04/10/2017
• Issued: 07/16/2019
• Est. Priority Date: 10/09/2014
• Status: Active Grant

• Current Assignee: Carnegie Mellon University
• Original Assignee: Carnegie Mellon University
• Inventors: Majidi, Carmel, Collins, Steven, Diller, Stuart
• Primary Examiner(s): Fluhart, Stacey A
• Application Number:
  US15/484,052
• Publication Number:
  US 20170222576A1
• Time in Patent Office: 827 Days
• CPC Class Codes: F16D 27/00 Magnetically- or electrically- actuated clutches; Control or electric circuits therefor clutches with magnetisable particles F16D37/02; with electro-rheological fluids F16D37/008
• CPC Class Codes: F16D 28/00 Electrically-actuated clutches arrangements for synchronisation F16D23/02; clutches actuated directly by means of an electromagnet F16D27/00; automatic clutches F16D43/00 - F16D45/00; external control F16D48/00
• CPC Class Codes: H02N 13/00 Clutches or holding devices using electrostatic attraction, e.g. using Johnson-Rahbek effect

Abstract

An electrostatic clutch is described comprising a plurality of micron-scale thickness electrodes, adjacent electrodes being separated by a thin film of dielectric material. A power source and controller apply a voltage across two electrodes, causing an electrostatic force to develop. When engaged, a force can be transferred through the clutch. A tensioning device maintains the alignment of the clutch when the electrodes are disengaged, but permits movement in at least one direction. In some embodiments, multiple clutches are connected to an output to provide variable force control and a broad range of torque input and output values. Moreover, the clutch can be used as an energy-recycling actuator that captures mechanical energy from negative work movements, and returns energy during positive work movements.

Claims

1. An electrostatic clutch for use in a robotic system, the clutch comprising:

a first electrode comprising a conductive film,

wherein a surface of the first electrode is coated with a dielectric material to cover the conductive film;

a first frame affixed to an end of the first electrode;

a second electrode comprising a conductive film,

wherein a surface of the second electrode is aligned parallel to the surface of the first electrode,

wherein the dielectric material separates the first electrode surface from the second electrode surface;

a second frame affixed to an end of the second electrode;

a tensioner connecting the first electrode to the second electrode,

wherein the tensioner maintains an alignment of the first electrode and the second electrode, while allowing relative movement of the first and second electrodes in at least one direction parallel to the first electrode surface; and

a power source for applying an electric field across the first electrode and the second electrode to develop an electrostatic charge, causing the first electrode and the second electrode to exist in either an attractive state or a non-attractive state,

wherein the tensioner allows the first electrode and the second electrode to move linearly relative to each other when the first electrode and the second electrode are in the non-attractive state,

wherein the first frame and the second frame are coupled through the first electrode and the second electrode when in the attractive state.

2. The electrostatic clutch of claim 1, wherein the dielectric material is comprised of a polymer composite containing barium titanate and titanium dioxide.

3. The electrostatic clutch of claim 1, wherein the first electrode and the second electrode comprise a flexible substrate coated with a conductive layer.

4. The electrostatic clutch of claim 3, wherein the substrate is a polymer.

5. The electrostatic clutch of claim 3:

wherein the substrate is bi-axially oriented polyethylene terephthalate,

wherein the conductive layer is sputter-deposited aluminum.

6. The electrostatic clutch of claim 1, wherein the tensioner further comprises:

an first elastic cord connecting the first frame to the second electrode, and

a second elastic cord connecting the second frame to the first electrode.

7. The electrostatic clutch of claim 6, wherein the tensioner further comprises:

a first bar attached to the first electrode opposite the first frame, wherein the elastic cord attaches to the second frame and the first bar; and

a second bar attached to the second electrode opposite the second frame, wherein the elastic cord attaches to the first frame and the second bar.

8. The electrostatic clutch of claim 1, further comprising:

a plurality of clutches connected to an output;

a controller electrically connected to each of the plurality of electrostatic clutches, wherein each clutch of the plurality of electrostatic clutches can be engaged or disengaged to provide a variable torque on the output.

9. The electrostatic clutch of claim 1, further comprising:

a third electrode comprising a conductive film,

wherein a surface of the third electrode is aligned parallel to the surface of the first electrode and the surface of the second electrode,

wherein the third electrode is positioned between the first electrode and the second electrode;

wherein the dielectric material separates the third electrode surface from the first electrode surface and the second electrode surface;

a housing, wherein the first electrode is attached to the housing; and

a spring connected to third electrode and attached to the housing,

wherein the third electrode can engage the first electrode to store energy in the spring,

wherein the third electrode can engage the second electrode to transfer energy from the spring to the second electrode.

10. The electrostatic clutch of claim 1, further comprising:

a spring having a first end and a second end, the first end connected to the second frame; and

an exoskeleton frame adapted to be worn on a lower leg to assist with walking, the exoskeleton frame comprising;

a lower portion connected to the second end of the spring;

an upper portion connected to the first frame; and

a hinge connecting the lower portion and the upper portion, wherein the hinge permits movement of the lower portion relative to the upper portion to stretch the spring when the first electrode and the second electrode are in the engaged state.