Overview of Microgrippers and Design of a Micromanipulation Station Based on a MMOC Microgripper

Abstract

This paper deals with an overview of recent microgrippers. As the end-effectors of micromanipulation systems, microgrippers are crucial point of such systems for their efficiency and their reliability. The performances of current microgrippers are presented and offer a stroke extending from 50 m to approximately 2 mm and a maximum forces varying from 0,1 mN to 600 mN. Then, micromanipulation system based on a piezoelectric microgripper and a SCARA robot is presented.

Microhandling Strategies and Microassembly in Submerged Medium

“…In order to build the expression of the dielectrophoresis torque, we consider a rotating electric field − − → E(t) whose norm is constant (see Consequently, the dipole momentum verifies − − → m(t) = 4πr 3 3 E 0 (Re(K(w)) cos(wt) + Im(K(w)) sin(wt)) − → x + (Re(K(w)) sin(wt) − Im(K(w)) cos(wt)) − → y (5.11) Thus, the dielectrophoresis torque applied on the object is done by −−→ DEP = 4πr 3 3 Im(K(w))E 2 0 (5.12)…”

“…In the second step, the silane head-groups arriving close to the substrate hydrolyse, in the presence of the adsorbed water layer on the surface, into highly polar trihydroxysilane Si(OH) 3 or hydroxysilane Si(OH)(Me) 2 for, respectively, triethoxysilane Si(OEt) 3 (APTES) and ethoxysilane Si(OEt) (APDMES). These polar Si(OH) 3 or Si(OH) groups form covalent bonds with the hydroxyl groups on the SiO 2 surface (third step), subsequent to which the condensation reaction (release of water molecules) goes on between silanol functions of neighbor molecules. Self-assembly is driven by lipophilic interactions between the linear alkane moieties.…”

Robotic Micromanipulation and Microassembly Using Monoview and Multiscale Visual Servoing

“…8) developed in the department AS2M of FEMTO-ST Institute is used for the handling of micro-objects [26]. It is a two-fingers gripping system with four dof (two dof by finger).…”

CAD Model-based Tracking and 3D Visual-based Control for MEMS Microassembly

“…3.e) developed in the department AS2M of FEMTO-ST Institute is used for the handling of micro-objects (Agnus et al, 2005). It is a two-fingered microhandling system with four DOF (two DOF by finger).…”