Compliant bipolar electrostatic gripper with micropillar electrodes array for manipulation at macroscale

Radon Dhelika, Pasomphone Hemthavy, Kunio Takahashi, Shigeki Saito

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


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.

Original languageEnglish
Article number055037
JournalSmart Materials and Structures
Issue number5
Publication statusPublished - 13 Apr 2016


  • bipolar
  • electrostatic-adhesion
  • gripper
  • manipulation
  • microfabrication


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