Calculation Methodology for Power Characteristics of Electroadhesive Contact for Gripping Conductive and Dielectric Objects

In this paper, we present a calculation methodology for power characteristics of electroadhesive gripper for handling objects of conductive and dielectric materials. Here, we show basic design principles of both kinds of grippers and give design ratios of their properties. For quantitative evaluation of electroadhesive contact efficiency we propose to use volume flow: when volume flow increases, it means, that the gripper electrical efficiency decreases. The design dependencies and ratios, provided in this paper, may be used by design and qualitative assessment of electroadhesive gripper devices, used to hold conductive and dielectric objects. Additionally, the proposed methodology allows to predict electroadhesive force based on electrophysical properties and grip geometry.