Compliant bipolar electrostatic gripper with micropillar electrodes array for manipulation at macroscale. (13th April 2016)

• Record Type: Journal Article
• Authors: Dhelika, Radon; Hemthavy, Pasomphone; Takahashi, Kunio; Saito, Shigeki
• Is Part Of: Smart materials and structures. Volume 25:Number 5(2016:May)
• Publication Date: 2016-04-13
• Subjects: electrostatic-adhesion -- bipolar -- microfabrication -- manipulation -- gripper; Smart materials -- Periodicals; Strucural design -- Periodicals; 620.11
• DOI: 10.1088/0964-1726/25/5/055037
• Languages: English
• ISSNs: 0964-1726

Abstract

Abstract: A compliant electrostatic gripper with bipolar voltage polarity for a pick-and-place manipulation is presented. The compliance, realized by the introduction of an array of micropillars which act as the electrode, extends the application of electrostatic-based gripper to manipulating fragile, rough-surfaced dielectric objects at macro scale. A prototype consisting of two arrays is developed by a chemical etching process. The experimental force is then compared with the theoretical force obtained from a simulation, showing a discrepancy between them. The sources of the discrepancy are analyzed to provide design insight for force improvement. To assess the reliability, the prototype is used for a manipulation demonstration of flat-surfaced paper. The result shows a good repeatability, and the necessary pick-up condition is confirmed. Subsequently, as the proof of the concept, another pick-up for rough-surfaced objects represented by a tissue paper with different roughness condition is also demonstrated. The effect of the rough surfaces to the generated forces is qualitatively discussed.