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8 October 2001 Dynamical strategies for micromanipulation by adhesion
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Proceedings Volume 4568, Microrobotics and Microassembly III; (2001)
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States
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.
© (2001) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Dogan Sinan Haliyo, Yves Rollot, and Stephane Regnier "Dynamical strategies for micromanipulation by adhesion", Proc. SPIE 4568, Microrobotics and Microassembly III, (8 October 2001);

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