High-Speed Automated Manipulation of Microobjects Using a Two-Fingered Microhand

Avci, Ebubekir; Ohara, Kenichi; Nguyen, Chanh-Nghiem; Theeravithayangkura, Chayooth; Kojima, Masaru; Tanikawa, Tamio; Mae, Yasushi; Arai, Tatsuo

doi:10.1109/tie.2014.2347004

Cited by 85 publications

(53 citation statements)

References 29 publications

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“…This mechanism can be applied to both contact and non-contact manipulation. We already manipulated microbeads and biological cells using a two-fingered microhand as a contact manipulation method in previous studies [2,9]. In addition, we verified that this innovative manipulator generated local flow by using high speed motion of an end effector.…”

Section: Introductionsupporting

confidence: 54%

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Analysis of rotational flow generated by circular motion of an end effector for 3D micromanipulation

et al. 2017

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This paper presents a non-contact manipulation method using rotational flow generated by high speed motion of a glass needle. In order to generate an applicable motion that can precisely control the speed and position of a target object around an end effector, a manipulator actuated by three piezoelectric actuators is proposed. A compact parallel link produces precise three-dimensional motions. To reach the required end-effector frequency and amplitude, which is necessary for generating the rotational flow that can make rotational movement of microbeads having patterned data, the end effector motion is generated by controlling the three piezoelectric actuators at high speed. In this paper, we focus on rotational flow created by two-dimensional circular motion of the end effector mounted on the parallel link. By changing the amplitude and frequency of the circular motion, the generated swirl flow is analyzed in 3D space using 9.6-μm microbeads. We analyzed the velocity toward to the root of the end effector and angular velocity around the end effector by formulating models. From the analyzed data, we verified that the rotational flow has potential to manipulate micro-objects precisely in 3D space.

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Section: Introductionsupporting

confidence: 54%

“…Avci et al and Zhang et al presented high-speed autonomous manipulation of microshperes utilizing a two-fingered microhand [2] and a MEMS microgripper [3,4], respectively. The main advantage of contact manipulation techniques is that physical approaches such as cutting, injecting, and stimulating can be achieved precisely.…”

Section: Introductionmentioning

confidence: 99%

Analysis of rotational flow generated by circular motion of an end effector for 3D micromanipulation

et al. 2017

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“…In [89], a two fingered microhand is developed for high speed gripping. This microhand was able to pick-and-place objects 40-60 µm in size within 1 s.…”

Section: Micro and Nano Grippersmentioning

confidence: 99%

State of the Art Robotic Grippers and Applications

et al. 2016

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Abstract:In this paper, we present a recent survey on robotic grippers. In many cases, modern grippers outperform their older counterparts which are now stronger, more repeatable, and faster. Technological advancements have also attributed to the development of gripping various objects. This includes soft fabrics, microelectromechanical systems, and synthetic sheets. In addition, newer materials are being used to improve functionality of grippers, which include piezoelectric, shape memory alloys, smart fluids, carbon fiber, and many more. This paper covers the very first robotic gripper to the newest developments in grasping methods. Unlike other survey papers, we focus on the applications of robotic grippers in industrial, medical, for fragile objects and soft fabrics grippers. We report on new advancements on grasping mechanisms and discuss their behavior for different purposes. Finally, we present the future trends of grippers in terms of flexibility and performance and their vital applications in emerging areas of robotic surgery, industrial assembly, space exploration, and micromanipulation. These advancements will provide a future outlook on the new trends in robotic grippers.

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“…9-(a) is used to identify the dynamical part of the actuator. The dynamical response, D(s), is identified using a normalized second order transfer function with a static gain of 1 as in (4). The parameters to be identified are a and b.…”

Section: Identification Of the Actuator Parametersmentioning

confidence: 99%

“…Recent works have shown that microassembly is a possible approach to fabricate complex hybrid 3-D microsystems [2], [3]. They also show the need of high speed manipulation [4] where pick-and-place tasks were performed in 1 s. Nevertheless, manipulation of microcomponents is a challenging task due to microscale specificities. These specificities are mainly manifested by the difficulty of sensors integration at this scale, the very small inertia of microsystems, their high dynamics and the predominance of surface forces (such as capillary, electrostatic and van der Waals forces) and contact forces (such as pull-off forces), but also, the lack of precise models.…”

Section: Introductionmentioning

confidence: 99%

High Bandwidth Microgripper With Integrated Force Sensors and Position Estimation for the Grasp of Multistiffness Microcomponents

Komati

Clevy

Lutz

2016

IEEE/ASME Trans. Mechatron.

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At the microscale, small inertia and high dynamics of microparts increase the complexity of grasping, releasing and positioning tasks. The difficulty increases especially because the position, the dimensions and the stiffness of the micropart are unknown. In this paper, the use of a microgripper with integrated sensorized end-effectors with high dynamic capabilities is proposed to perform stable and accurate grasps of multistiffness microcomponents. A dynamic nonlinear force/position model of the complete microgripper while manipulating a microcomponent is developed. The model takes into consideration not only free motion and constrained motion, but also, contact transitions which is a key issue at the microscale due to the predominance of surface forces. It enables to estimate the position of the microgripper's end-effectors, the contact position of the microcomponent and the force applied on the microcomponent. Using the proposed microgripper and its model, both of the gripping forces are measured and the position of each of the microgripper's endeffectors is estimated. This enables to perform a stable grasp of the micropart by providing force and position feedback. Moreover, using the developed microgripper and its model, the characterization of the microcomponent can be performed by estimating its dimensions and its stiffness.

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High-Speed Automated Manipulation of Microobjects Using a Two-Fingered Microhand

Cited by 85 publications

References 29 publications

Analysis of rotational flow generated by circular motion of an end effector for 3D micromanipulation

Analysis of rotational flow generated by circular motion of an end effector for 3D micromanipulation

State of the Art Robotic Grippers and Applications

High Bandwidth Microgripper With Integrated Force Sensors and Position Estimation for the Grasp of Multistiffness Microcomponents

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