Design and Experimental Evaluation of an Electrostatic Micro-Gripping System

The paper describes the modeling and experimental investigation of the application issues of electrostatic based micro-gripping. The design of an electrostatic gripping system for both grip force measure and pickup and place experiment is presented. A finite element model is made to study the gripping environment and process related features. The design and validation of the model are provided. Investigation of the influences that the gripping process gives out to and may receive from the operating environment is discussed. The preliminary result shows that grounded objects that come into the gripping area do not influence the gripping action significantly. Some real gripping actions are performed. Discussions on the scope of gripping environment and process related features are raised on basis of gripping experiments and observations. The phenomena of charging and discharging on the gripper isolator may add difficulties to gripping control. The investigation is concluded in a form of Process Data Sheet. The research draws an insight view on the application criteria of electrostatic gripping technology. Both advantages of the gripping principle e.g. flexible in terms of part dimension and geometry, and restrictions of the application are illustrated.