Manipulation of Micro-objects Using Adhesion Forces and Dynamical Effects
نویسندگان
چکیده
This paper describes a dynamical strategy for releasing micro objects picked-up by means of adhesion forces. While sticking effects are used in order to capture an object by adequately choosing a high surface energy constitutive material for the end-effector, these same effects handicap considerably the release. We propose to take advantage of the inertial effects of both the end-effector and the manipulated object to overbalance adhesion forces and to achieve the release. Simulations show that for this purpose, accelerations as high as 105m/s2 are needed. Successful manipulation of a 40μm radius glass sphere is experimented. Keywords— micro-manipulation, adhesion forces, dynamical effects, piezoceramic actuator, high acceleration
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