Rail-guided robotic system for multi-configuration cooperative micromanipulation based on formation control

The microrobotic manipulation system with multi-manipulator offers more possibilities for dexterous operations under mesoscale. However, most of the microrobots specialize in single task for specific targets with limited size, type and related environment, which can-not meet the demand of multi-process tasks. In this paper, we present a novel multi-configuration cooperative microrobotic manipulation system where multi-manipulator are guided by a rail. With the help of the circular rail and hybrid actuation, it can realize the arbitrary change of end-effector posture without sweeping out of field of view and achieve multiscale cooperation with positioning resolution around 0.20μ m. Through combining with the leader-follower and artificial potential field strategies, the system can switch three different configurations: single-ended, double-ended and triple-ended, which adapt to different processes of one task and achieve the high integration of tasks. Experimental results indicated that compared with traditional single-manipulator or multi-manipulator microrobotic manipulation system, our system can not only achieve high-precision translation and self-rotation for pose change, but also grasp a wide size range of micro-targets between 70μm and 1000μm, and release high viscosity micro-targets effectively.