ICRA 2011 Paper Abstract

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Paper WeP206.3

Sariola, Veikko (Helsinki University of Technology), Liimatainen, Ville (Aalto University), Tolonen, Tatu (Aalto University), Udd, Reidar (Aalto University), Zhou, Quan (Aalto University)

Silicon Capillary Gripper With Self-Alignment Capability

Scheduled for presentation during the Regular Sessions "Micro-Nano Robots IV" (WeP206), Wednesday, May 11, 2011, 15:55−16:10, Room 5A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 8, 2019

Keywords Micro/Nano Robots, Micro and Nanoscale Automation

Abstract

This paper reports a novel capillary microgripper. The microgripper is fabricated from silicon using deep reactive ion etching and is designed to be especially suitable for self-alignment. The gripper is shown to retain its self-alignment capabilities even when the head of the gripper does not match the size of the component. This mechanism is analyzed using numerical simulations and tested in pick-and-place experiments using commercial laser diode components. The advantage of the capillary microgripper has been demonstrated in picking and aligning microchips from adhesive films, which requires substantial picking force.

 

 

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