Abstract
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 105 m/s 2 are needed. Successful manipulation of a 40μm radius glass sphere is experimented.
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Sinan Haliyo, D., Régnier, S., Bidaud, P. (2003). Manipulation of Micro-objects Using Adhesion Forces and Dynamical Effects. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_34
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DOI: https://doi.org/10.1007/3-540-36268-1_34
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