Development of microgripper system

Lukman, David; Šafarič, Riko; Škorc, Gregor

doi:10.1109/icat.2011.6102085

Cited by 3 publications

(4 citation statements)

References 11 publications

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“…Figure 4(b) shows the sublimation phase, where the object is released from the gripper's tip and F WAALS is the dominant force of F . so In order to change the pressure from 0.001 mbar to 1 bar and change the temperature from −60 °C to 25 °C, we used hardware for making pressure and temperature changes [29]. For manipulating objects with a resolution of 3.9 nm, a nanomanipulator system was used [27,28].…”

Section: The Gripping/releasing Methods Based On the Variable Van Der...mentioning

confidence: 99%

“…Figure 7 shows the nanomanipulator mechanism inside the vacuum chamber. The 3-DOF Cartesian nanomanipulator's position resolution was 3.9 nm for the PTP movements of each axis [29]. Figure 8 shows the two Peltier elements used for the support surface (the horizontal element) and the one-finger gripper (the vertical element) used for cooling and heating the surface and the tip.…”

Section: Experimental Set-upmentioning

confidence: 99%

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One-finger gripper based on the variable van der Waals force used for a single nano/micro-sized object

Šafarič

Lukman

2014

J. Micromech. Microeng.

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This article presents the development of a one-finger gripper that uses a variable van der Waals force to grip, transport and actively release a single SiO2 spherical-like nano/micro-sized object. The diameters of the objects used (spheres) were between 800 nm to 50 μm. The van der Waals force becomes the dominant force for such objects (from 60 nN to 8 μN) if the materials are not electrically charged or have magnetic characteristics, and if the medium between the object and the one-finger gripper is a vacuum. Furthermore, the van der Waals force is several times greater than the gravitational force for such objects, so a two-finger gripper becomes unreliable when actively releasing a nano/micro object. Usually, the nano/micro object remains attached to one of the fingers at an unknown position and orientation. Our newly developed one-finger gripper does not have such problems. The van der Waals force between the gripper and the nano/micro object is increased by the deposition of H2O crystals on the gripper’s tip (gripping procedure), and decreased by sublimation of H2O crystals on the gripper’s tip (releasing procedure). This article presents both the theoretical conditions for the gripping/releasing of rigid spherical-like objects and experimental proof of these conditions. The results of our practical experimentation show that the gripping/releasing method can be applied to any shape of object and also to different materials.

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Section: The Gripping/releasing Methods Based On the Variable Van Der...mentioning

confidence: 99%

Section: Experimental Set-upmentioning

confidence: 99%

One-finger gripper based on the variable van der Waals force used for a single nano/micro-sized object

Šafarič

Lukman

2014

J. Micromech. Microeng.

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“…Many solutions have been presented to address microgripping. Some non-IPMC based grippers include a conventional two fingered design using a piezoelectric motor with glass fingers, a pneumatic micropipette gripper and a single fingered ice gripper that freezes objects using the triple point of water [13]. Compared to IPMC microgrippers, these options lack the compliance necessary for handling biological material.…”

Section: Literature Reviewmentioning

confidence: 99%

Single active finger IPMC microgripper

Ford

Macias

Lumia

2014

Smart Mater. Struct.

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This paper presents a new design for a single active finger ionic polymer metal composite (IPMC) microgripper. This design has one stationary finger and one actuating finger. The gripper is tested in comparison with a two fingered gripper (2FG) on its ability to perform pick and place operations. The grippers each use IPMC strips in three widths: 1.25 mm, 2.5 mm and 5.0 mm. The single fingered gripper shows success rates of 86.2%, 89.2%, and 75% respectively versus 78.5%, 93.9% and 75% for a 2FG. The single fingered gripper performance is nearly equivalent to that of a 2FG. Even though a single finger produces half the force, its ability to carry objects is as good as or better than a 2FG. In addition, the stationary finger is considerably stiffer than an active IPMC finger, which helps in positional accuracy. Using half the IPMC, the single fingered gripper is the economical choice.

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“…Ice gripping has been explored in relation to grasping and holding materials in the micro-manufacture industry, such as those in [24][25][26].…”

Section: Cryo Based Workholdingmentioning

confidence: 99%

Design, characterisation and performance evaluation of a Peltier-driven cryo-adhesive fixture for manufacturing operations

et al. 2018

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Workholding and fixturing is a critically important aspect of manufacturing that has direct implications for the quality of the manufactured component during processing as well as a direct impact on the cost of the component. The field of workholding is mature with numerous techniques employed, mostly using contact pressure, but also using magnetics and adhesives. Looking to nature for inspiration presents us with the use of ice as a mechanism for adhesion, referred to as cryo-adhesion. Cryo-adhesion offers some advantages over more traditional fixturing methods such as removing contact pressure and therefore reducing the dependence on the machining of complex, intricate bespoke fixtures. While the concept of ice adhesion is known, there is minimal research presented on the application of ice adhesion in manufacturing processes. This research reports on the development of a novel Peltier-based cryo-cooling fixture for workholding in manufacturing operations. The research provides insight into the main interactions that might be experienced in manufacturing type scenarios and presents findings on the cryo fixture's thermal and geometric characteristics, the use of the novel cryo fixture for holding various materials under tensile and shear loads, and a consideration of contact area and surface roughness on the cryo fixture performance.

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Development of microgripper system

Cited by 3 publications

References 11 publications

One-finger gripper based on the variable van der Waals force used for a single nano/micro-sized object

One-finger gripper based on the variable van der Waals force used for a single nano/micro-sized object

Single active finger IPMC microgripper

Design, characterisation and performance evaluation of a Peltier-driven cryo-adhesive fixture for manufacturing operations

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