Omnidirectional Manipulation of Microparticles on a Platform Subjected to Circular Motion Applying Dynamic Dry Friction Control

Abstract

Currently used planar manipulation methods that utilize oscillating surfaces are usually based on asymmetries of time, kinematic, wave, or power types. This paper proposes a method for omnidirectional manipulation of microparticles on a platform subjected to circular motion, where the motion of the particle is achieved and controlled through the asymmetry created by dynamic friction control. The range of angles at which microparticles can be directed, and the average velocity were considered figures of merit. To determine the intrinsic parameters of the system that define the direction and velocity of the particles, a nondimensional mathematical model of the proposed method was developed, and modeling of the manipulation process was carried out. The modeling has shown that it is possible to direct the particle omnidirectionally at any angle over the full 2π range by changing the phase shift between the function governing the circular motion and the dry friction control function. The shape of the trajectory and the average velocity of the particle depend mainly on the width of the dry friction control function. An experimental investigation of omnidirectional manipulation was carried out by implementing the method of dynamic dry friction control. The experiments verified that the asymmetry created by dynamic dry friction control is technically feasible and can be applied for the omnidirectional manipulation of microparticles. The experimental results were consistent with the modeling results and qualitatively confirmed the influence of the control parameters on the motion characteristics predicted by the modeling. The study enriches the classical theories of particle motion on oscillating rigid plates, and it is relevant for the industries that implement various tasks related to assembling, handling, feeding, transporting, or manipulating microparticles.

Transportation of Objects on an Inclined Plane Oscillating in the Longitudinal Direction Applying Dynamic Dry Friction Manipulations

“…Recently, a novel approach for omnidirectional vibrational transportation has been proposed [21,22]. The omnidirectional motion of an object on a horizontal platform subjected to harmonic circular motion was achieved and controlled through an asymmetry induced by periodic dynamic dry friction control between the object and the platform.…”

Investigation of the Motion Characteristics of Parts on a Platform Subjected to Planar Oscillations

“…Recently, a technique for manipulation and transportation of various parts was demonstrated where the motion was achieved by the means of a periodic asymmetry of the frictional forces between the part and the harmonically oscillating surface that are dynamically controlled in a certain manner with respect to the period of the harmonic excitation [45,46].…”

Editorial for the Special Issue on Flexible Micromanipulators and Micromanipulation

“…This design enables high precision and a large workspace for micromanipulation tasks, which can benefit various fields, including microassembly, microsurgery, and microscale material characterization. Kilikevicius et al [ 4 ] present omnidirectional manipulation of microparticles on a platform subjected to circular motion using dynamic dry friction control. This work provides a promising approach for manipulating microparticles with high precision and speed, which is important in various applications, including biomedical, microelectronics, and environmental fields.…”