High-Speed Active Release End-Effector Motions for Precise Positioning of Adhered Micro-Objects

• 作者: Eunhye Kim Kazuto Kamiyama Masaru Kojima Mitsuhiro Horade Tatsuo Arai Yasushi Mae
• 来源期刊: 世界工程和技术(英文)
• 学科: 医学
• 关键词: ADHESION Force Vibration Generation RELEASING Strategy Micro-Manipulation
• 年，卷（期）: sjgchjsyw_2018,（1）
• 页码范围: 81-103
• 页数: 23页
• 分类号: R73

摘要

This paper presents a release method for micro-objects. To improve position accuracy after release, we propose 3D high-speed end-effector motions. The classical release task focuses on the detachment of a micro-object from an end-effector. The technique utilizes merely the vibration of the end-effector regardless of the pattern of movement. To release different sizes of micro- objects and place them precisely at the desired locations in both air and liquid media, in this paper, we propose high-speed motions by analyzing the adhesion force and movement of micro-objects after separation. To generate high end-effector acceleration, many researchers have applied simple vibration by using an additional actuator. However, in our research, 3D high-speed motion with apt amplitude is accomplished by using only a compact parallel mechanism. To verify the advantages of the proposed motion, we compare five motions, 1D motions (in X-, Y-, and Z-directions) and circular motions (clockwise and counterclockwise directions), by changing the frequency and amplitude of the end-effector. Experiments are conducted with different sizes of microbeads and NIH3T3 cells. From these experiments, we conclude that a counterclockwise circular motion can release the objects precisely in air, while 1D motion in the Y direction and two circular motions can detach the objects at the desired positions after release in a liquid environment.