Multi-axial micromanipulation organized by versatile micro robots and micro tweezers

Fuchiwaki, Ohmi; Ito, Akira; Misaki, Daigo; Aoyama, Hisayuki

doi:10.1109/robot.2008.4543318

Cited by 48 publications

(28 citation statements)

References 11 publications

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“…In consideration of adhesional and rolling-resistance factors [24], [25], microspheres were rolled on a Au-coated substrate for both pick and release, causing the fracture of the microsphere-substrate interface and the microsphere-tool interface, respectively. Similarly, it was also demonstrated that ultraviolet cure adhesive was applied on the substrate to enable release [26]. A commonality of passive release techniques includes the dependence on surface properties, being time consuming, and being poor in repeatability.…”

mentioning

confidence: 99%

Active Release of Microobjects Using a MEMS Microgripper to Overcome Adhesion Forces

Chen¹,

Zhang²,

Sun

2009

J. Microelectromech. Syst.

115

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Abstract-Due to force scaling laws, large adhesion forces at the microscale make rapid accurate release of microobjects a longstanding challenge in pick-place micromanipulation. This paper presents a new microelectromechanical systems (MEMS) microgripper integrated with a plunging mechanism to impact the microobject for it to gain sufficient momentum to overcome adhesion forces. The performance was experimentally quantified through the manipulation of 7.5-10.9-µm borosilicate glass spheres in an ambient environment under an optical microscope. Experimental results demonstrate that this microgripper, for the first time, achieves a 100% successful release rate (based on 200 trials) and a release accuracy of 0.70 ± 0.46 µm. Experiments with conductive and nonconductive substrates also confirmed that the release process is not substrate dependent. Theoretical analyses were conducted to understand the release principle. Based on this paper, further scaling down the end structure of this microgripper will possibly provide an effective solution to the manipulation of submicrometer-sized objects.[

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mentioning

confidence: 99%

Active Release of Microobjects Using a MEMS Microgripper to Overcome Adhesion Forces

Chen¹,

Zhang²,

Sun

2009

J. Microelectromech. Syst.

115

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“…μm glass sphere to a glass needle with a ultraviolet-cured adhesive and detached the adhered object by irradiating the UV [3]. Hériban et al selected a gel film (Gel-Pak) as substrate for accurate grasping and releasing of microparts [4].…”

Section: Et Al Attached a 20mentioning

confidence: 99%

High-Speed Active Release End-Effector Motions for Precise Positioning of Adhered Micro-Objects

Kim¹,

Kojima²,

Kamiyama³

et al. 2018

WJET

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This paper presents a release method for micro-objects. To improve position accuracy after release, we propose 3D high-speed end-effector motions. The classical release task focuses on the detachment of a micro-object from an end-effector. The technique utilizes merely the vibration of the end-effector regardless of the pattern of movement. To release different sizes of microobjects and place them precisely at the desired locations in both air and liquid media, in this paper, we propose high-speed motions by analyzing the adhesion force and movement of micro-objects after separation. To generate high end-effector acceleration, many researchers have applied simple vibration by using an additional actuator. However, in our research, 3D high-speed motion with apt amplitude is accomplished by using only a compact parallel mechanism. To verify the advantages of the proposed motion, we compare five motions, 1D motions (in X-, Y-, and Z-directions) and circular motions (clockwise and counterclockwise directions), by changing the frequency and amplitude of the end-effector. Experiments are conducted with different sizes of microbeads and NIH3T3 cells. From these experiments, we conclude that a counterclockwise circular motion can release the objects precisely in air, while 1D motion in the Y direction and two circular motions can detach the objects at the desired positions after release in a liquid environment.

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“…and Koichi OZAKI *1 *1,*2 Utsunomiya University 7-1-2 Yoto, Utsunomiya-shi, Tochigi 321-8585, Japan (Fuchiwaki et al, 2008(Fuchiwaki et al, )( 2015 ( 2013) MEMS (Chen et al, 2009) (Dionnet et al, 2004) (Gauthier, 1998) (Saito et al, 2002) (Gauthier et al, 1998) 2 (Lambert et al, 2003) Dafflon Γ (Gauthier et al, 1998) (Abe et al, 2016) θ…”

Section: Memsmentioning

confidence: 99%

Strategy of pickup and release of micro-object by approach angle in geometrical and mechanical conditions

Abe¹,

Ogasawara²,

Ozaki³

2017

Transactions of the JSME (In Japanese)

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This paper discusses a micro manipulation considering that an approach angle on pickup affects adhesion and mechanical balance on release by using two needle-shaped end-effectors. In micro-scale, adhesion is generated by capillary, van der Waals and electrostatic besides gravity. Accurate and repeatable pick-and-release/place of micro sized objects is a longstanding challenge due to the strong adhesion in micro manipulation. We first introduce a strategy of pickup and release of a micro sphere. The strategy features in that the approach angle on pickup decides release by two conditions: one is geometrical condition between the sphere and a tip of end-effector, and the another is mechanical condition by forces (adhesion, gravity and friction) to the sphere from the tip and a substrate. To confirm the efficacy of the strategy, the micromanipulation tests with different approach angles have been conducted. Finally, we show the experimental results by pickup and release of spherical glass beads and not spherical pollens, for confirming the validity of the proposed strategy as a novel manipulation method.

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Multi-axial micromanipulation organized by versatile micro robots and micro tweezers

Cited by 48 publications

References 11 publications

Active Release of Microobjects Using a MEMS Microgripper to Overcome Adhesion Forces

Active Release of Microobjects Using a MEMS Microgripper to Overcome Adhesion Forces

High-Speed Active Release End-Effector Motions for Precise Positioning of Adhered Micro-Objects

Strategy of pickup and release of micro-object by approach angle in geometrical and mechanical conditions

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