Manipulation of Micro-objects using Adhesion Forces and Dynamical Effects in Unconstrained Environment
This paper describes a dynamical strategy for releasing objects picked-up by means of adhesion forces. Indeed, if 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 the end-effector and the manipulated object to overbalance adhesion forces and to achieve the release. For this purpose, accelerations as high as 105 m/s 2 are needed. Successful manipulation of a 40μm radius glass sphere is presented.
KeywordsAdhesion Force Inertial Effect Glass Sphere Wheatstone Bridge Command Signal
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