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.


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    Titel :

    Manipulation of Micro-objects Using Adhesion Forces and Dynamical Effects


    Beteiligte:
    Siciliano, Bruno (Herausgeber:in) / Dario, Paolo (Herausgeber:in) / Sinan Haliyo, D. (Autor:in) / Régnier, Stéphane (Autor:in) / Bidaud, Philippe (Autor:in)


    Erscheinungsdatum :

    30.06.2003


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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