Characterizing an electrostatic gripping device for the automated handling of non-rigid materials

Abstract

Electrostatic forces can be used for handling non-rigid materials such as fabrics in an automated manufacturing environment but little understanding exists as to how electrostatic gripping forces may be generated on different types of materials and how such forces are related dynamically to the properties of materials being handled and to the design parameters of a gripping device. As such, the design and operation of electrostatic gripping devices must be based on a trial-and-error process. This paper presents a theoretical understanding of the dynamic processes of force generation and removal in a single-pole electrostatic gripping device. Mathematical equations are presented, relating the device's performance (i.e. the gripping force, the pick-up and release times) to various design parameters as well as to the properties of materials being handled. Experimental study is carried out in conjunction with the theoretical analysis to characterize the devices for practical material handling applications. The design and operation of a large gripping device for materials handling tasks in aerospace applications are discussed.