Compliant bipolar electrostatic gripper using 3D-printed-layered elastic probes
Abstract
A 3D-printed-layered structure for forming the compliant bipolar electrostatic gripper is proposed. A prototype gripper module, which consists of an array of elastically deformable bipolar micro-probes, is fabricated using a conventional 3D printer. Experiments are conducted to examine the attractive force and the pick-and-place performance of the prototype. Experimental results show that the prototype module can generate the maximum attractive pressure of 87.1 Pa, which can pick and hold a piece of xerographic paper of 31.2 mg successfully. The effects of residual charges and the probe-tips flattening process on the attractive force are also discussed.
- Publication:
-
Engineering Research Express
- Pub Date:
- March 2020
- DOI:
- 10.1088/2631-8695/ab67ed
- Bibcode:
- 2020ERExp...2a5013H
- Keywords:
-
- compliance;
- bipolar;
- electrostatic gripper;
- ESC;
- attractive force;
- cantilever