Test Bed and Characterization
The need for a test bed can be justified by several reasons: the main one is probably the need for an experimental validation of the above described simulation. Moreover, the inherent assumptions of the built model prevent us from getting results from nonaxially symmetric configurations. A test bed can then feed us with additional information such as, for example, the influence of the gripper tilt on the capillary forces. A third reason is that the simulation has to be fed with input data such as the amount of liquid and the contact angles: these inputs will be measured with this test bed. Moreover, it is still not clear which contact angle (advancing one vs receding one) should be used: the choice will be achieved by direct observation of the picking operation. Consequently, this chapter focuses on the requirement and the design principles of a force measurement test bed, which can be sketched as shown in Fig. 17.1. The information released in this chapter concerns the integration of each function (force measurement, position sensing, liquid dispensing, vision), the calibration and characterization of the test bed itself, and finally, the characterization of the materials involved in the experiments and the related contact angles.
KeywordsContact Angle Force Measurement Liquid Bridge Static Contact Angle Recede Contact Angle
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