Survey of sticking effects for micro parts handling

Nonlinear modeling and estimation of force in a piezoelectric cantilever

“…Piezoelectric cantilever In order to evaluate the advantages of the proposed estimator, it has been compared with the linear estimator proposed in [4] and based on the equation (1).…”

“…In addition, phenomena neglected in macromanipulation becomes paramount when the sizes of the manipulated parts are very small. These phenomena, called scale effects, are mainly the adhesion forces [1]. In order to achieve successfully a micromanipulation task, the design of the micromanipulators and the microrobots must takes into account the characteristics of the microworld: high accuracy and adhesion forces.…”

Optimisation of an acoustic resonator for particle manipulation in air

“…Microgrippers can be used to manipulate such particles in liquid [1], capture cells in suspension [2] and characterize mechanical properties of individual biological particles [3], and are usually designed to grip particles by frictional forces [1,[4][5][6] . However, these contact-based approaches can cause damage due to the mechanical forces involved [3]; they can also encounter problems with stiction, due to significant adhesive (capillary) forces that can be present at such small scales [7][8][9]. Stiction effects can be reduced by using surface coatings [10] and/or by minimising contact surface area by modifying the tip geometry of the gripper, for example [11].…”

Assembly and disassembly of bare chips using on-substrate linear micro vibromotor arrays

“…This is mainly due to the surface adhesion forces causing sticking among components and handling devices [5], which makes simple miniaturization of the conventional pick-and-place robotic assembly extremely difficult. Figure 1 illustrates pick-and-place assembly of a micro-scale component using a micro gripper.…”