DYNAMICS OF MICROMANIPULATION USING A COMPLIANT MICROMANIPULATOR

摘要

Attractive forces present at the micro and nano scales are a hindrance to error-free manipulation of micro-scale objects using manipulator devices as they cause the micro-scale objects to become adhered to the end-effector of the manipulator. This paper presents a dynamic model for controlled release of a polystyrene microsphere adhered to the end-effector of a compliant micromanipulator due to Van Der Waal's forces applying the principle of the inertial release technique. The inertial release is effected through step input actuation forces of the manipulator. Various actuation parameters such as the velocity and rise time for successful inertial release of adhered microspheres are investigated.