Design and verification of multi micro-manipulation strategies

摘要

This paper presents different micro-manipulation strategies on various micro-spheres and adaptive end-effectors. Adjustable multi-gripper platform was designed to carry out these strategies. Among these strategies, two kinds of mechanical clamping methods were established based on double-gripper. Three kinds of micro spheres were picked up in the experiments with adhesive force strategies. Triple-finger gripper was used to verify the clamping and releasing strategy. The end-effectors such as tungsten probes, fibers and AFM probes had been used. Spheres with diameters of 20 μm, 60 μm, 80 μm and 800 μm were used to verify these composite strategies. The materials of spheres are silica, iron and boron silicate. The results show that this design of strategies is closely adapted to the manipulation tools, end-effectors and vision systems.