Rapid De-Adhesion of Electroadhesive Pad via Reversal Polarity Method Based on Small-Gap Capacitive Distribution Model

The slow de-adhesion process of electroadhesive (EA) pads severely limits its application in robots. The existing solutions to this problem are inefficient, energy-intensive, and lack comprehensive analysis. Herein, we propose a reversal polarity voltage control strategy for rapid de-adhesion of the EA pad. We introduce both a physical model and an equivalent circuit model of EA, and derive detailed expressions for Coulomb-type and JR-type EA forces. A combined mechanism involving a small-gap capacitance distribution model and multitime constant decay characteristics is proposed to explain the slow de-adhesion phenomenon, with subsequent simulation validation demonstrating the effectiveness of this explanation. A multicycle charge accumulation analysis has also been proposed. By constructing a shear EA force measurement experimental platform, we characterize the residual EA force on various substrates and optimize the key parameters within the reversal polarity method based on the proposed model. With a low energy consumption of 1.51 mW·cm<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">–2</sup>, the EA pad can rapidly detach from the substrate surface, achieving a fast release time of 0.12 s. Furthermore, a stable EA force is maintained over multiple cycles of operation.