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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