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Title
Japanese: 
English:Compliant bipolar electrostatic gripper with micropillar electrodes array for manipulation at macroscale 
Author
Japanese: RADON DHELIKA, HEMTHAVY PASOMPHONE, 高橋 邦夫, 齋藤 滋規.  
English: Radon Dhelika, Pasomphone Hemthavy, Kunio Takahashi, Shigeki Saito.  
Language English 
Journal/Book name
Japanese: 
English:Smart Materials and Structure 
Volume, Number, Page Vol. 25        pp. 055037(1-10)
Published date Apr. 13, 2016 
Publisher
Japanese: 
English:IOP 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
DOI https://doi.org/10.1088/0964-1726/25/5/055037
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 fl at-surfaced paper. The result shows a good repeatability, and the necessary pick-up condition is con fi rmed. 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.

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