Toward 3D Printable Non-Planar Electroadhesive Structures for Active Anchoring

Abstract:This paper investigates multi-material 3D printing as a method to fabricate non-planar structures with 3D-printed electrode patterns for electroadhesion. We printed flat electroadhesion pads as a planar benchmark and cylindrical pads as a non-planar demonstration, with conductive interdigitated electrodes 3D printed as part of the structure. Normal-force measurements showed voltage-controlled modulation in both geometries. At 3 kV, the flat pads generated approximately 0.11-0.13 N, while the cylindrical pads reached approximately 0.16 N at 5 N preload. These results demonstrate a step toward printed parts with built-in, electrically controlled adhesion and friction, beyond conventional planar electroadhesion pads.

Robotics (cs.RO)

arXiv:2609.18700 [cs.RO]

(or arXiv:2609.18700v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.18700 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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