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Proceedings Paper

Dynamical strategies for micromanipulation by adhesion
Author(s): Dogan Sinan Haliyo; Yves Rollot; Stephane Regnier
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Paper Abstract

This paper describes a dynamical strategy for releasing objects picked-up by means of adhesion forces. Indeed, if sticking effects are used in order to capture an object by adequately choosing high surface energy constitutive material for the end-effector, these same effects handicap considerably the release. We propose to take advantage of the inertial effects of the end-effector and the manipulated object to overbalance adhesion forces and to achieve the release. For this purpose, accelerations as high as 105m/s2 are needed. Successful manipulation of a 40micrometers radius glass sphere is presented.

Paper Details

Date Published: 8 October 2001
PDF: 9 pages
Proc. SPIE 4568, Microrobotics and Microassembly III, (8 October 2001); doi: 10.1117/12.444133
Show Author Affiliations
Dogan Sinan Haliyo, Univ. Pierre et Marie Curie (France)
Yves Rollot, Univ. Pierre et Marie Curie (France)
Stephane Regnier, Univ. Pierre et Marie Curie (France)


Published in SPIE Proceedings Vol. 4568:
Microrobotics and Microassembly III
Bradley J. Nelson; Jean-Marc Breguet, Editor(s)

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