[PDF] All 3D printed ready-to-use flexible electroadhesion pads Chaoqun Xiang, Yisheng Guan, Haifei Zhu, Shangcan Lin, Yaowei Song

Electroadhesion is a promising adhesion mechanism widely employed in robotics with advantages including
enhanced adaptability, gentle/flexible handling, reduced complexity, and ultralow energy consumption.
Currently, all electroadhesion pads are manually fabricated, which limits their applications. In contrast, new,
easy-to-implement, cost-effective, and entirely 3D printed flexible electroadhesion pads made of both nonconductive polylactide and graphene conductive polylactide are presented in this paper. Moreover, their statics model for geometric dimensions and flexibility is established via the pseudo rigid body model. Then, normal
electroadhesion force measurements and electrostatic simulation of the flexible electroadhesive pads are conducted. Finally, a 3D printed curvature adjustable gripper based on flexible electroadhesive pads that can
actively grasp flat, concave, and convex objects is presented. These FEPs are expected to widen the preparation
technology and increase the use of electroadhesion in soft robots application.