2022
DOI: 10.1109/lra.2021.3138519
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Double-Nozzle Capillary Force Gripper for Cubical, Triangular Prismatic, and Helical 1-mm-Sized-Objects

Abstract: In this paper, we describe a novel capillary force gripper with two nozzles for the manipulation of complex-shaped micro-objects. These nozzles rapidly form constant-volume droplets and have two primary functions: fast water refilling by capillary action and fast droplet formation by the on-off control of a diaphragm pump. Capillary force is a dominant microscopic force acting on objects of all shapes owing to the fluidity of water. Therefore, it is suitable for the capture and release of heterogeneous and com… Show more

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Cited by 4 publications
(5 citation statements)
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References 20 publications
(23 reference statements)
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“…Micromanipulation requires tools to accurately manipulate objects and multi-axis positioners to move the tool to an appropriate position and orientation with a sub-micrometer resolution. Various tools have been developed, such as vacuum nozzles [ 8 ], microtweezers with force sensors [ 4 , 9 ], and grippers that use capillary force [ 10 , 11 ]. Regarding the multi-axis positioner, the combination of a single-axis stage driven by linear synchronous motors with linear guides and stepping motors with ball-screw mechanisms are widely used in the industry [ 12 , 13 ].…”
Section: Introductionmentioning
confidence: 99%
“…Micromanipulation requires tools to accurately manipulate objects and multi-axis positioners to move the tool to an appropriate position and orientation with a sub-micrometer resolution. Various tools have been developed, such as vacuum nozzles [ 8 ], microtweezers with force sensors [ 4 , 9 ], and grippers that use capillary force [ 10 , 11 ]. Regarding the multi-axis positioner, the combination of a single-axis stage driven by linear synchronous motors with linear guides and stepping motors with ball-screw mechanisms are widely used in the industry [ 12 , 13 ].…”
Section: Introductionmentioning
confidence: 99%
“…The trend of miniaturization in biomedicine [5] and micro-electro-mechanical system [6] is inevitable, requiring the manipulation of microcomponents. The manipulation method based on the capillary force has many advantages, such as good cushioning due to the damping effect of the liquid bridge [7], compatibility with complex shaped objects [8], and self-centering [9]. When the separation distance between two solid surfaces reaches a critical value, the liquid bridge breaks.…”
Section: Introductionmentioning
confidence: 99%
“…In a further study [14], the orientation of the rectangular micropart was related to the gripper tip shape quantitatively. A double-nozzle gripper was developed to pick up the microparts with different shapes, such as cubes, triangular prisms and helical springs [15].…”
Section: Introductionmentioning
confidence: 99%