An Industrial Prototype of a Liquid Solidification Based Micro-Gripping System

Lang, Defeng; Tichem, Marcel; Warner, Frederick

doi:10.1109/isam.2007.4288477

Cited by 5 publications

(2 citation statements)

References 6 publications

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“…However, the rigidity of the arm is not enough for our purpose of grasping the head. Lang et al proposed a gripper using liquid solidification [7]. However, it worked in negative temperature around -30 degrees and it is too cold to be used for our purpose.…”

Section: Introductionmentioning

confidence: 99%

An obstetric forceps contouring the head surface to improve gripping capability in delivery assistance

Chino

Nakajima

Bekku

et al. 2014

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

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The requirement of safe child delivery is increasing in developed countries in these decades. We have developed an obstetric forceps contouring the infant's head surface with stiffness-controlled pads. The stiffness of the pad is controlled by using air pressure regulation based on jamming transition. The proposed forceps has two soft material pads facing to the infant's head. The proposed forceps is first thin to get safely inserted into the delivery cavity. The granular tetrapod particles are then injected into the pads to contour the infant's head surface. By vacuuming the inside air of the pads, the particles interlock each other and the pads move onto the solid-like phase. In the experiments, the proposed method worked effectively to decrease the pressure onto the infant's head during delivery assistance and consequently made the operation safer.

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Section: Introductionmentioning

confidence: 99%

An obstetric forceps contouring the head surface to improve gripping capability in delivery assistance

Chino

Nakajima

Bekku

et al. 2014

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

View full text Add to dashboard Cite

show abstract

“…Its principle is detailed in [10] and is summarized below. Current ice grippers act in air and their miniaturization is usually limited by the capillary force [11][12][13][14][15][16]. The dimensions of gripped objects are typically bigger than 200 μm and the main applications are optical, mechanical or electrical microcomponent assembly [13].…”

Section: Introductionmentioning

confidence: 99%

Dynamic modelling for a submerged freeze microgripper using thermal networks

López-Walle¹,

Gauthier

Chaillet

2009

J. Micromech. Microeng.

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The growing interest for micromanipulation systems requires efficient, reliable and flexible handling strategies. Recent studies have demonstrated that performing manipulations and assembly in liquid surroundings is more advantageous than in dry conditions, especially when objects are under 100 µm in size. The thermally actuated ice microgripper proposed and analysed in this paper is designed to operate in a completely submerged manner in an aqueous medium. The handling principle which benefits from adhesive properties of ice, its thermal control principle based on Peltier effect, some features of the prototype, and the first micromanipulation tests are summarized. This paper is focused on the modelling of the thermal microhandling system using electrical analogy. The submerged microgripper is split into different subsystems which are studied in order to identify their thermal network. Then they are interconnected to build the whole thermal network of the submerged microgripper. This model is validated by comparison with experimental measurements. Controlling the temperatures involved in our device will be the purpose of further works.

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Microgrippers and their Influence on High Precision Assembly Processes

Raatz

Ellwood

2012

Grasping in Robotics

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An Industrial Prototype of a Liquid Solidification Based Micro-Gripping System

Cited by 5 publications

References 6 publications

An obstetric forceps contouring the head surface to improve gripping capability in delivery assistance

An obstetric forceps contouring the head surface to improve gripping capability in delivery assistance

Dynamic modelling for a submerged freeze microgripper using thermal networks

Microgrippers and their Influence on High Precision Assembly Processes

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