The reason electrostatic devices are usually very small is simple: the force of any actuator is dependent on the distance between the plates and the voltage. Moving the plates closer together is ...

Thrust Force: The force exerted by a motor or actuator in a linear direction, typically used to move an object along a straight path.

You can parallelize the actuators to get more pulling force, with neighboring coils sharing the same magnets. Alternatively, you can stack them in series to get longer stroke lengths. [Adrian ...