Abstract
This paper describes the study of a gripper using the surface tension effects to pick and place the 0.5mm or 0.3mm diameter balls of a millimetric watch bearing. Two liquid supply strategies have been tested (pressure drive and tip dip). The effects of the coating (through the measurement of the contact angles), the presence of an internal channel and the size of the gripper have been studied. Analytical and numerical force models have been developped and validated thanks to a test bed allowing the measurement of the developped force (typically of the order of 100 µN) with a resolution of 1 µN. A complete pick and place cycle has been performed using the 0.5mm diameter gripper. Such a test has still to be done in the future with the 0.3mm diameter gripper.
Chapter PDF
Similar content being viewed by others
References
Bark, K.-B. (1999). Adhäsives Greifen von kleinen Teilen mittels niedrigviskoser Flüssigkeiten. Springer.
Biganzoli, F., Fassi, I., and Pagano, C. (2005). Development of a gripping system based on capillary force. In Proceedings of ISATP05, Montreal, Canada.
Grutzeek, H. and Kiesewetter, L. (1998). Downscaling of grippers for micro assembly. In Proc. of 6th Int. Conf. on Micro Electro, Opto Mechanical Systems and Components, Potsdam.
Lambert, P. (2004). A Contribution to Microassembly: a Study of Capillary Forces as a gripping Principle. PhD thesis, Université libre de Bruxelles, Belgium.
Lambert, P. and Delchambre, A. (2005). Parameters ruling capillary forces at the submillimetric scale. Langmuir, 21:9537–9543.
Obata, K. J., Motokado, T., Saito, S., and Takahashi, K. (2004). A scheme for micro-manipulation based on capillary force. J. Fluid Mech., 498:113–21.
Orr, F. M., Scriven, L. E., and Rivas, A. P. (1975). Pendular rings between solids: meniscus properties and capillary force. J. Fluid Mech., 67:723–42.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 International Federation for Information Processing
About this paper
Cite this paper
Lambert, P., Seigneur, F., Koelemeijer, S., Jacot, J. (2006). Design of a Capillary Gripper for a Submillimetric Application. In: Ratchev, S. (eds) Precision Assembly Technologies for Mini and Micro Products. IPAS 2006. IFIP International Federation for Information Processing, vol 198. Springer, Boston, MA. https://doi.org/10.1007/0-387-31277-3_1
Download citation
DOI: https://doi.org/10.1007/0-387-31277-3_1
Publisher Name: Springer, Boston, MA
Print ISBN: 978-0-387-31276-7
Online ISBN: 978-0-387-31277-4
eBook Packages: Computer ScienceComputer Science (R0)