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Compliant bipolar electrostatic gripper with micropillar electrodes array for manipulation at macroscale.
- Source :
- Smart Materials & Structures; May2016, Vol. 25 Issue 5, p1-1, 1p
- Publication Year :
- 2016
-
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. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 09641726
- Volume :
- 25
- Issue :
- 5
- Database :
- Complementary Index
- Journal :
- Smart Materials & Structures
- Publication Type :
- Academic Journal
- Accession number :
- 114704190
- Full Text :
- https://doi.org/10.1088/0964-1726/25/5/055037