2016年
Releasing of micro-objects based on local stream generation by high speed motion of end-effector
International Journal of Mechatronics and Automation
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- 巻
- 5
- 号
- 4
- 開始ページ
- 171
- 終了ページ
- 179
- 記述言語
- 英語
- 掲載種別
- 研究論文(国際会議プロシーディングス)
- DOI
- 10.1504/IJMA.2016.084214
- 出版者・発行元
- Inderscience Enterprises Ltd.
In micro-manipulation, releasing of micro-objects is a challenging work due to the difficulty of controlling adhesion forces. To overcome the adhesion force and place micro-objects with high position accuracy, in this paper, local stream generated by high-speed motions of an end-effector is proposed. A compact parallel link creates 3D end-effector motion at high-speed without uncontrollable vibration, which means local stream can generate enough force in a 3D direction to separate micro-objects. Applying the local stream created by the right end-effector, micro-objects including 55 μm microbeads and NIH3T3 cells attached to the left end-effector were released. To verify the placing positions of the objects, we compared four motions, 1D motions (X- and Z-directions) and circular motions (clockwise and counterclockwise directions), by analysing the trajectory of the objects after separation. From these results of experiments, we concluded that the circular motion (CCW) detached micro-objects in the nearest position from the end-effector.
- リンク情報
- ID情報
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- DOI : 10.1504/IJMA.2016.084214
- ISSN : 2045-1067
- ISSN : 2045-1059
- SCOPUS ID : 85019738424