Characteristic Analysis of Three Dimensional Electrostatic Adhesion Mechanism based on Jamming Phenomenon of Conductive Powder

-Integration Study with Universal Vacuum Gripper-

Abstract

In this paper, the three dimensional electrostatic adhesive mechanism is proposed based on Jamming phenomenon of conductive powder. Conventional electrostatic adhesion mechanisms are based on the comb-like electrode covered with membrane, while the flexibility of the electrode was limited. We focused on the conductive powder covered with membrane as the flexible and electro-adhesive mechanism. We first confirmed the electrostatic force of the proposed mechanism and integrate it with vacuum gripper based on Jamming phenomenon.