ABSTRACT
Electroadhesive forces are crucial in various applications, including grasping devices, electro-sticky boards, electrostatic levitation, and climbing robots. However, the design of electroadhesive devices relies on speculative or empirical error approaches. Therefore, we present a theoretical model comprising predictive coplanar electrodes and protective layers for analyzing the electrostatic fields between an object and electroadhesive device. The model considers the role of protective layer and the air gap between the electrode surface and the object. To exert a higher electroadhesive force, the higher permeability of the protective layer is required. However, a high permeability of the protective layer is hard to withstand high applied voltage. To overcome this, two materials with different permeabilities were employed as protective layers-a low-permeability inner layer and a high-permeability outer layer-to maintain a high voltage and generate a large electroadhesive force. Because a low-permeability inner layer material was selected, a more permeable outer layer material was considered. A theoretical analysis revealed complex relationships between various design parameters. The impact of key design parameters and working environments on the electroadhesion behavior was further investigated. This study reveals the fundamental principles of electroadhesion and proposes prospective methods to enhance the design of electroadhesive devices for various engineering applications.
