A Flexible Experimental System for Complex Microassembly under Microscale Force and Vision-Based Control

Xie, Hui; Rong, Weibin; Sun, Lining

doi:10.1080/15599610701232648

Cited by 15 publications

(12 citation statements)

References 20 publications

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“…A and B will be calculated by (2), which in turn S and Po respectively through (3) and (4). Adhesion forces on the C-C contact can be estimated as the "pull-off" force between two cylinders by [18]:…”

Section: Contact Mechanics Of Nanoscale Graspingmentioning

confidence: 99%

“…Nanoscale grasping with the proposed gripper benefits from followings: (1) The AFM tip is very tiny (typically with an apex radius of 10 nm or less) with respect to the size of the nano object to be manipulated, leading to smaller adhesive forces that is favorable to releasing operation. (2) The tetrahedral (tapered shape close to the very end) tip of the cantilever reduces contacting adhesion forces. In addition, the tip is tiled 63° that can be used to make a "V" configuration that provides larger grasping force.…”

Section: Mechanics Of Fs-s Contactmentioning

confidence: 99%

“…In the past decade, research efforts have been made to scale down the robotic grasping to micro scale with micro grippers for integrating functional micro components into mechatronics systems or performing scientific explorations in biology [1][2][3][4]. Recent work has been reported that pick-and place manipulation at several micrometers has been achieved with a dual-tip gripper [5].…”

Section: Introductionmentioning

confidence: 99%

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Modeling and implementation of nanoscale robotic grasping

Xie

Lambert

Régnier

2011

2011 IEEE International Conference on Robotics and Automation

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Ahstract-To understand robotic grasping at the nanoscale, contact mechanics between nano grippers and nano samples was studied. Contact mechanics models were introduced to simulate elastic contacts between various profiles of flat surface, sphere and cylinder for different types of nano samples and nano grippers. Analyses and evaluation instances indicate that friction forces, commonly used in macro grasping to overcome the gravity, at nanoscale is often not enough to overcome relatively strong adhesion forces to pick up the nano sample deposited on a substrate due to tiny contact area of the grasping. Two-finger grippers are proposed for the stable nanoscale grasping and a nonparallel gripper with a 'V' configuration was demonstrated with better grasping capabilities than a parallel one. To achieve the robotic nanoscale grasping, a nano gripper constructed from two individually actuated and sensed tips is presented. Pick-and place manipulation of silicon nanowires validate the theoretical analyses and capabilities of the proposed nano gripper.

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Section: Contact Mechanics Of Nanoscale Graspingmentioning

confidence: 99%

Section: Mechanics Of Fs-s Contactmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Modeling and implementation of nanoscale robotic grasping

Xie

Lambert

Régnier

2011

2011 IEEE International Conference on Robotics and Automation

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“…More recently, assembly of a gear system including nine components (2 shafts, 5 gears, 1 wheel, 1 toothed base) was reported by Sun et al [38] and Xie et al [47]. In this assembly, the diameter of the overall system was about 2 mm.…”

Section: Overviewmentioning

confidence: 99%

Robotic micromanipulation for microassembly: modelling by sequencial function chart and achievement by multiple scale visual servoings

Tamadazte

Fort-Piat²,

Dembélé³

et al. 2009

J. Micro-Nano Mech.

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The paper investigates robotic assembly by focusing on the manipulation of microparts. This task is formalized through the notion of basic tasks which are organized in a logical sequence represented by a function chart and interpreted as the model of the behavior of the experimental setup. The latter includes a robotic system, a gripping system, an imaging system, and a clean environment. The imaging system is a photon videomicroscope able to work at multiple scales. It is modelled by a linear projective model where the relation between the scale factor and the magnification or zoom is explicitly established. So, the usual visual control law is modified in order to take into account this relation. The manipulation of some silicon microparts (400 μm × 400 μm × 100 μm) by means of a distributed robotic system (xyθ system, ϕz system), a twofinger gripping system and a controllable zoom and focus videomicroscope shows the relevance of the concepts. The 30% of failure rate comes mainly from the physical phenomena (electrostatic and capillary forces) instead of the accuracy of control or the occultations of microparts.

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“…Up to now, many research efforts have been made to build microstructures [1][2][3], fabricate photonic devices [4] and scientific explorations in biology [5][6][7][8]. In order to build two-dimensional (2-D) or 3-D microstructures and complete manipulation of biology samples, various endeffectors have been proposed: pushing and pulling with a nanoprobe [9], pick-and-place using microgrippers [10][11][12][13][14][15], a microcantilever [16], collaborating fingers [17] and noncontact tools such as the optical gripper [18].…”

Section: Introductionmentioning

confidence: 99%

Achieving three-dimensional automated micromanipulation at the scale of several micrometers with a nanotip gripper

Xie

Acosta

Régnier

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Three-dimensional (3-D) automated micromanipulation at scale of several micrometers using a nanotip gripper is presented. The gripper is constructed from protrudent tips of two independently actuated atomic force microscope (AFM) cantilevers and each cantilever. A protocol allows these two cantilevers to form a gripper for grasping and releasing the microspheres to target positions without obstacle of adhesive forces in air. For grasping, amplitude feedback from the dithering cantilevers is employed to locate the grasping points by laterally scanning the side of the microspheres. Real time force sensing is used to monitor the whole process of the pick-and-place with steps of pickup, transport and release. For trajectory planning, an algorithm based on the shortest path solution is used to obtained 3-D micropatterns with high efficiencies. In experiments, microspheres with diameters from 3 µm to 4 µm were manipulated and 3-D micropyramids with two layers were achieved. 3-D micromanipulation and 3-D microassembly at the scale of several microns to submicron could become feasible through the newly developed nanotip gripper.

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A Flexible Experimental System for Complex Microassembly under Microscale Force and Vision-Based Control

Cited by 15 publications

References 20 publications

Modeling and implementation of nanoscale robotic grasping

Modeling and implementation of nanoscale robotic grasping

Robotic micromanipulation for microassembly: modelling by sequencial function chart and achievement by multiple scale visual servoings

Achieving three-dimensional automated micromanipulation at the scale of several micrometers with a nanotip gripper

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