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We demonstrate out-of-plane motion of microstructures assembled from parts fabricated in a single-mask Silicon-on-Insulator (SOI) process. Compliant microgrippers used during assembly, inplane electrostatic actuators, sockets and rotation mechanisms are all defined in the same mask. Advantages of this process include high fabrication yield and very quick fabrication time. We further report on three accomplishments: 1) New rigid sockets, 2) compliant, non-electrically-actuated micro-grippers that pick up parts and automatically rotate them 90 o out-of-plane, and 3) out-of-plane rotation of assembled structures using in-plane electrostatic actuators, demonstrating 17 o of static mechanical rotation to date.

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This paper reports the frictional properties of a series of siro spun yarns produced from cotton, polyester/cotton, and viscose. The coefficient of friction of the yarns has been measured using Howell's method where the two yams slide against each other at right angles. Yarn-to-metal friction has also been measured using a modified version of Howell and Mazur. The dependence of strand spacing and twist on the coefficients of yarn-to-yarn and yarn-to-metal friction has been examined, and the frictional coef ficient increases with increasing strand spacing and twist. The probable reasons for this behavior are discussed in terms of the nature of the yarn surfaces.