TY - GEN
T1 - Strategies of stable grasp and accurate release for dual-finger micromanipulator
AU - Liu, Xiaoming
AU - Chen, Junnan
AU - Lin, Yuqing
AU - Kojima, Masaru
AU - Shi, Qing
AU - Huang, Qiang
AU - Fukuda, Toshio
AU - Arai, Tatsuo
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12
Y1 - 2018/12
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85075018255&partnerID=8YFLogxK
U2 - 10.1109/MHS.2018.8886976
DO - 10.1109/MHS.2018.8886976
M3 - Conference contribution
AN - SCOPUS:85075018255
T3 - MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science
BT - MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 29th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2018
Y2 - 10 December 2018 through 12 December 2018
ER -