WO2007143662A3 - Wall crawling devices - Google Patents

Wall crawling devices Download PDF

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Publication number
WO2007143662A3
WO2007143662A3 PCT/US2007/070437 US2007070437W WO2007143662A3 WO 2007143662 A3 WO2007143662 A3 WO 2007143662A3 US 2007070437 W US2007070437 W US 2007070437W WO 2007143662 A3 WO2007143662 A3 WO 2007143662A3
Authority
WO
WIPO (PCT)
Prior art keywords
electrostatic
electroadhesive device
forces
adherence
electrodes
Prior art date
Application number
PCT/US2007/070437
Other languages
French (fr)
Other versions
WO2007143662A2 (en
Inventor
Ronald E Pelrine
Harsha Prahlad
Roy D Kornbluh
Patrick D Lincoln
Scott Stanford
Original Assignee
Stanford Res Inst Int
Ronald E Pelrine
Harsha Prahlad
Roy D Kornbluh
Patrick D Lincoln
Scott Stanford
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Stanford Res Inst Int, Ronald E Pelrine, Harsha Prahlad, Roy D Kornbluh, Patrick D Lincoln, Scott Stanford filed Critical Stanford Res Inst Int
Priority to JP2009514500A priority Critical patent/JP5329398B2/en
Priority to EP07784324.1A priority patent/EP2041784B1/en
Publication of WO2007143662A2 publication Critical patent/WO2007143662A2/en
Publication of WO2007143662A3 publication Critical patent/WO2007143662A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N13/00—Clutches or holding devices using electrostatic attraction, e.g. using Johnson-Rahbek effect

Abstract

Descriπbed herein is electroadhesion technology that permits controllable adherence between two objects Electroadhesion uses electrostatic forces of attraction produced by an electrostatic adhesion voltage, which is applied using electrodes (18) in an electroadhesive device The electrostatic adhesion voltage produces an electric field and electrostatic adherence forces When the electroadhesive device and electrodes are positioned near a surface of an object such as a vertical wall (16), the electrostatic adherence forces hold the electroadhesive device in position relative to the surface and object This can be used to increase traction or maintain the position of the electroadhesive device relative to a surface Electric control of the electrostatic adhesion voltage permits the adhesion to be controllably and readily turned on and off.
PCT/US2007/070437 2006-06-05 2007-06-05 Wall crawling devices WO2007143662A2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2009514500A JP5329398B2 (en) 2006-06-05 2007-06-05 Wall moving device
EP07784324.1A EP2041784B1 (en) 2006-06-05 2007-06-05 Wall crawling devices

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US80395306P 2006-06-05 2006-06-05
US60/803,953 2006-06-05
US86655506P 2006-11-20 2006-11-20
US60/866,555 2006-11-20
US11/757,913 2007-06-04
US11/757,913 US7554787B2 (en) 2006-06-05 2007-06-04 Wall crawling devices

Publications (2)

Publication Number Publication Date
WO2007143662A2 WO2007143662A2 (en) 2007-12-13
WO2007143662A3 true WO2007143662A3 (en) 2008-10-30

Family

ID=38802305

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2007/070437 WO2007143662A2 (en) 2006-06-05 2007-06-05 Wall crawling devices

Country Status (4)

Country Link
US (3) US7554787B2 (en)
EP (1) EP2041784B1 (en)
JP (2) JP5329398B2 (en)
WO (1) WO2007143662A2 (en)

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Also Published As

Publication number Publication date
US8111500B2 (en) 2012-02-07
US20100059298A1 (en) 2010-03-11
EP2041784A4 (en) 2015-04-08
EP2041784B1 (en) 2017-10-25
US20110110010A1 (en) 2011-05-12
JP5329398B2 (en) 2013-10-30
JP5940028B2 (en) 2016-06-29
US20080211341A1 (en) 2008-09-04
US7554787B2 (en) 2009-06-30
EP2041784A2 (en) 2009-04-01
WO2007143662A2 (en) 2007-12-13
JP2009539684A (en) 2009-11-19
JP2013237149A (en) 2013-11-28
US7872850B2 (en) 2011-01-18

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