Assessing the Relationship between Interdigital Geometry Characteristics and Shear Stress Performance in Electro-Adhesive Devices

In the past decade, numerous studies have proposed optimization strategies targeting components of electroadhesive devices (EAD) to enhance their performance in terms of normal or shear grasping force. Notably, the comb-shaped interdigital geometry, widely utilized in EAD grasping applications, has demonstrated superior performance in terms of shear force. While much of the literature has focused on determining the optimal electrode geometry for specific applications, employing theoretical models and finite element method (FEM) simulations of electrostatic interdigitates systems, only a few have conducted a systematic exploration of the optimal combination of electrode gap and width, incorporating empirical evaluation. This work presents an empirical-statistical method for optimizing EADs through a study based on the statistical Design of Experiment (DoE) technique. A geometry defined by two comb-shaped electrodes is fabricated using the Drop on Demand inkjet printing technique on thin PET film. By varying the gap and width and assessing shear force through shear stress tests, the best combination, tailored to the material to be grasped, is determined.