A gas bubble-based parallel micro manipulator: conceptual design and kinematics model

Abstract

The parallel mechanism has become an alternative solution when micro manipulators are demanded in the fields of micro manipulation and micro assembly. In this paper, a three-Degree-Of-Freedom (3-DOF) parallel micro manipulator is presented, which is directly driven by three micro gas bubbles. Since the micro gas bubbles are generated and maintained due to the surface tension between the gas and liquid media, the proposed novel system can be used in the liquid environment which allows for rotation about X and Y axis and translation in Z axis. In this paper, the conceptual design of micro gas bubble-based parallel manipulator is introduced and the input/output characteristic of the actuator is analyzed in detail. The kinematics model of the parallel micro manipulator is also established, based on which the workspace and the system motion resolution are analyzed as a criteria and reference for future prototype development.

Position Measurement/Tracking Comparison of the Instrumentation in a Droplet-Actuated-Robotic Platform

“…The device presented (Figure 1) here is a compliant platform that can be used to perform microrobotic assembly tasks in a liquid environment [7,8]. The table has six degrees of freedom (DOFs), of which three are actuated: the translation along the direction orthogonal to the platform plane z, and two rotations along axes parallel to the platform plane.…”

Soft electrochemical bubble actuator with liquid metal electrode using an embodied hydrogel pneumatic source

“…1 Likewise, researchers have been using bubbles to perform activities from regulating fluid flow 2 to killing cells selectively. 3 Bubbles also find use in micro-valves 4 and pumps, 5 micromanipulators, 6 dynamic lenses, 7 tactile sensing, 8 actuators like artificial muscles, 9 and soft robotics. 6,10 Colloquially, the term bubbles usually refer to small volumes of gas surrounded by a liquid; here we use the term 'bubble' more generally to describe elastic chambers filled with gas.…”

Experimental characterization of Drobot: Towards closed-loop control

“…A modular, compliant platform for microassembly with integrated force measurement capabilities was proposed in [5]. The concept of a compliant table enabled by capillary effects was then introduced by Lenders [1], and further developed to handle components submerged in liquid using bubbles as actuators (Bubble-bot or Ro-bulle in French) [6], [7]. Compliant microrobotics falls into two emerging domains : bubble and droplet robotics (in liquid and gaseous environments, respectively), and soft robotics.…”