Development of a mobile nanohandling robot

Kortschack,; Fatikow,

doi:10.1163/156856304773954313

Cited by 28 publications

(13 citation statements)

References 5 publications

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“…In vacuum or in liquid, capillary forces can often be eliminated. This justifies the micro/nano handling in SEM (with vacuum) [3] and submerged environment [4]. Capillary force can also be reduced by using different material, e.g.…”

Section: Scaling Effect and Adhesion Forcesmentioning

confidence: 93%

Strategies in Automatic Microhandling

Zhou

2007

2007 International Conference on Mechatronics and Automation

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Automation is the key step for successful application of micromanipulation and microhandling technologies. Due to the challenging environment microhandling has to deal with, the success of automation in microhandling is rather limited today. This paper firstly discusses the important measures that are necessary to achieve automatic microhandling, and then reviews the challenges and status of microhandling strategies. Based on the research activities and results of the author, the paper then discusses the approaches often used in the robotics and automation field, their merits and limitations, and new concepts of replacing key processes of automatic microhandling using physical process to make automatic microhandling a more accessible technology.

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Section: Scaling Effect and Adhesion Forcesmentioning

confidence: 93%

Strategies in Automatic Microhandling

Zhou

2007

2007 International Conference on Mechatronics and Automation

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“…Such a software has to take the physical and technical constraints of the small scale in account to be reliable and applicable at all [27]. This includes, as described previously, microscope systems as main sensor (e.g., the SEM [17], [18]), the predominant adhesive forces, and direct actuation principles [28]. A few examples of such software, developed in recent years, include: software from PRONOMIA research project by Gauthier et al [27], [29], the nanomanipulation control framework developed at the USC by Arbuckle et al [30] or the OFFIS Automation Framework (OAF) developed at the University of Oldenburg [31].…”

Section: B Control Setupmentioning

confidence: 99%

Automated Robotic Manipulation of Individual Colloidal Particles Using Vision-Based Control

Zimmermann

Tiemerding

Fatikow

2015

IEEE/ASME Trans. Mechatron.

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Automated manipulation of micro-and nanosized objects using robotic setups constitutes a major challenge due to the force-scaling laws and the limited control possibilities on that scale. This paper presents a new developed approach for automated manipulation of individual colloidal particles using a dedicated dualprobe setup inside a scanning electron microscope. Based on tailored probe geometries, the setup allows for reliable pick-up and release sequences of individual particles. Applying image processing of the visual feedback provided by the microscope enables for direct and fast control of the complex manipulation routines and thus allows for fully automated alignment sequences. Experimental results reveal a high repeatability of the process with hitherto unrivaled precision. The advantages and limits of this technique are highlighted with respect to further application scenarios.

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“…The previous working principle relies on a segmented piezodisc and three rotating steel spheres [11], [12], [13]. The steel spheres carry the platform itself and roll up on the working surface.…”

Section: A Working Principle Of Rollbotmentioning

confidence: 99%

Simulation and experimental evaluation of laser-structured actuators for a mobile microrobot

Edeler

2008

2008 IEEE International Conference on Robotics and Automation

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This paper describes the simulation, fabrication and evaluation of a mobile platform's actuator, which is the foundation for microrobots. The working principle is based on the mobile platform RollBot. The new feature is the combination of three rolling steel spheres driven by three laser structured piezoactuators, each containing three ruby hemispheres. Because of the piezoactuator's special design, the hemisphere's stick-slip displacements decrease and enable a more precise control. The platform's properties concerning rigidity, resolution and maximum velocity improve. After an introduction of RollBot's and the new actuation principle, a short description of the laser structuring process is given. Several Finite-Element(FE)-simulations are presented to understand the expected performance of the mobile platform. Finally, measurements of step sizes and maximum velocities are shown. The application of the actuator in a mobile platform proves the derived properties.

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Development of a mobile nanohandling robot

Cited by 28 publications

References 5 publications

Strategies in Automatic Microhandling

Strategies in Automatic Microhandling

Automated Robotic Manipulation of Individual Colloidal Particles Using Vision-Based Control

Simulation and experimental evaluation of laser-structured actuators for a mobile microrobot

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