Dynamical strategies for micromanipulation by adhesion

Dogan Sinan Haliyo; Yves Rollot; Stephane Regnier

doi:10.1117/12.444133

8 October 2001 Dynamical strategies for micromanipulation by adhesion

Dogan Sinan Haliyo, Yves Rollot, Stephane Regnier

Proceedings Volume 4568, Microrobotics and Microassembly III; (2001) https://doi.org/10.1117/12.444133
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

This paper describes a dynamical strategy for releasing objects picked-up by means of adhesion forces. Indeed, if sticking effects are used in order to capture an object by adequately choosing high surface energy constitutive material for the end-effector, these same effects handicap considerably the release. We propose to take advantage of the inertial effects of the end-effector and the manipulated object to overbalance adhesion forces and to achieve the release. For this purpose, accelerations as high as 10⁵m/s² are needed. Successful manipulation of a 40micrometers radius glass sphere is presented.

Citation Download Citation

Dogan Sinan Haliyo, Yves Rollot, and Stephane Regnier "Dynamical strategies for micromanipulation by adhesion", Proc. SPIE 4568, Microrobotics and Microassembly III, (8 October 2001); https://doi.org/10.1117/12.444133

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