Robotic micro-assembly of microparts using a piezogripper

Hériban, David; Gauthier, Michaël

doi:10.1109/iros.2008.4650932

Cited by 47 publications

(36 citation statements)

References 14 publications

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“…5,6 The required force to separate two surfaces is commonly called the "pull-off" force. The "pull-in" force is the attractive force between two objects when they approach closely.…”

mentioning

confidence: 99%

Adhesion Control for Micro- and Nanomanipulation

et al. 2011

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The adhesion between a micro/nano-object and a micro-gripper end-effector is an important problem in micromanipulation. Cancelling or reduction this force is a great challenge.This force is directly linked to the surface chemical structure of the object and the gripper. We propose to predict this force between a structuring surface and a micro-object with a multisphere van der Waals force model. The surface was structured by polystyrene latex particles (PS particles) with radii from 35 to 2000 nm. The model was compared with experimental pulloff force measurement performed by AFM with different natures of spheres materials glued on the tipless. A wide range of applications, in the field of telecommunications, bioengineering, and more generaly speaking MEMS can be envisaged for these substrates. † FEMTO-ST Institute ‡ IEMM ¶ EMPA

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“…5,6 The required force to separate two surfaces is commonly called the "pull-off" force. The "pull-in" force is the attractive force between two objects when they approach closely.…”

mentioning

confidence: 99%

Adhesion Control for Micro- and Nanomanipulation

et al. 2011

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“…Hériban et al selected a gel film (Gel-Pak) as substrate for accurate grasping and releasing of microparts [4]. Obviously, passive release is time-consuming and has poor repeatability.…”

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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“…The robotic station is able to perform the teleoperated micro-assembly of silicon objects whose general size is as small as 40 mm. Automatic pick and place operations of these objects are also available [25]. The station is presented in Fig.…”

Section: Application On a Robotic Micro-assembly Stationmentioning

confidence: 99%

Modular architecture of the microfactories for automatic micro-assembly

Gendreau

Gauthier

Hériban

et al. 2010

Robotics and Computer-Integrated Manufacturing

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a b s t r a c tThe construction of a new generation of MEMS which includes micro-assembly steps in the current microfabrication process is a big challenge. It is necessary to develop new production means named micromanufacturing systems in order to perform these new assembly steps. The classical approach called ''top-down'' which consists in a functional analysis and a definition of the tasks sequences is insufficient for micromanufacturing systems. Indeed, the technical and physical constraints of the microworld (e.g. the adhesion phenomenon) must be taken into account in order to design reliable micromanufacturing systems. A new method of designing micromanufacturing systems is presented in this paper. Our approach combines the general ''top-down'' approach with a ''bottom-up'' approach which takes into account technical constraints. The method enables to build a modular architecture for micromanufacturing systems. In order to obtain this modular architecture, we have devised an original identification technique of modules and an association technique of modules. This work has been used to design the controller of an experimental robotic micro-assembly station.

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Robotic micro-assembly of microparts using a piezogripper

Cited by 47 publications

References 14 publications

Adhesion Control for Micro- and Nanomanipulation

Adhesion Control for Micro- and Nanomanipulation

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

Modular architecture of the microfactories for automatic micro-assembly

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