Strategies of stable grasp and accurate release for dual-finger micromanipulator

Xiaoming Liu, Junnan Chen, Yuqing Lin, Masaru Kojima, Qing Shi, Qiang Huang, Toshio Fukuda, Tatsuo Arai

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In microscale, adhesion force enables us to grasp targets with only one end-effector. However, due to the vibration of the driving unit and the environmental disturbance, losing target often happens during the grasp. The adhesion also makes releasing the targets from the end-effector difficult, and release accuracy cannot be guaranteed. In this paper, we proposed novel strategies of grasp and release for a dual-finger micromanipulator. The dual-finger micromanipulator includes two micropipettes as the end-effectors. One micropipette is fixed and the other active micropipette is actuated by a piezo-driven 3-DOF parallel mechanism. Tips of the micropipettes are heated to form spherical tips, then the tips are grinded to form hemispherical shapes. The big flat surfaces of the hemispherical end-effectors can increase the success rate of the grasp and avoid the target lose. In the release strategy, the hemispherical tip of the active micropipette is coated with gel to keep the target always sticking on the tip of active micropipette. Then, the active pipette is controlled to vibrate, and release the target adhered on its tip.

Original languageEnglish
Title of host publicationMHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538667927
DOIs
Publication statusPublished - Dec 2018
Event29th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2018 - Nagoya, Japan
Duration: 10 Dec 201812 Dec 2018

Publication series

NameMHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science

Conference

Conference29th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2018
Country/TerritoryJapan
CityNagoya
Period10/12/1812/12/18

Fingerprint

Dive into the research topics of 'Strategies of stable grasp and accurate release for dual-finger micromanipulator'. Together they form a unique fingerprint.

Cite this