Computational Methods for Design and Control of MEMS Micromanipulator Arrays

ion barrier increases generality This theory arguably represents the first systematic attack on massively parallel, distributed manipulation based on geometric and physical reasoning. Applications such as parts-feeding can be formulated in terms of the force vector fields required. Thus programmable force fields act as an abstraction barrier between applications requiring array micromanipulation and their implementation with MEMS devices. Such abstraction barriers permit hierarchical design, and allow application designs with greater independence from underlying device technology. Given a task (such as uniquely positioning a part) and a part geometry, we develop algorithms that automatically generate the corresponding manipulation plans as a sequence of force fields. We also derive a classification of vector fields, resulting in design criteria by which efficient Computational Methods for Design and Control of MEMS Micromanipulator Arrays KARL F. BÖHRINGER, BRUCE R. DONALD, AND NOEL C. MACDONALD