Fabrication of a stretchable electroadhesive pad

Abstract

Electrostatic adhesion technology has recently attracted much attention for use in the field of soft robotics for wall walking and grasping complex-shaped objects. In the development of soft robots using electrostatic adhesion technology, it is critical to simplify the manufacturing process and to optimize the electrode shape. A previous study employed a conductive silicone rubber sheet to simplify the manufacturing process. Electrolytic analysis indicated that the optimum electrode shape is a wave. Referring to these previous studies, we manufactured an electroadhesive pad with wave-shaped electrodes using a highly efficient method. An electroadhesive pad was completed in 90 minutes. The resulting electroadhesive pad showed that the shear pressure increased in proportion to the square of the voltage, which is consistent with theory. Our technology should contribute to the mass production of electroadhesive pads and increase the manufacturing efficiency of soft robots that can walk on walls and grasp objects with complex shapes.