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Magnetic Driven Two-Finger Micro-Hand with Soft Magnetic End-Effector for Force-Controlled Stable Manipulation in
Dan Liu1, Xiaoming Liu1, Pengyun Li1
1Beijing Institute of Technology, School of Mechatronical Engineering, Beijing 100081, China.
Micromachines
|April 30, 2021
Summary
This study introduces a novel micronewton force-controlled microhand with a soft magnetic end-effector for precise micro-object manipulation. The system achieves stable grasping and force feedback at the micro-scale, crucial for micromanipulation tasks.
Area of Science:
- Robotics
- Micro-engineering
- Biomedical Engineering
Background:
- Micromanipulators are essential for industrial and biomedical applications.
- Traditional micro-scale manipulators face challenges with force feedback.
Purpose of the Study:
- To develop a micronewton force-controlled microhand with a soft magnetic end-effector.
- To enable stable grasping and precise manipulation of micro-objects.
Main Methods:
- A homemade electromagnet drives a two-finger microhand with soft end-effectors (300 μm diameter).
- One end-effector is hydrogel; the other is a PDMS/paramagnetic particle composite.
- Magnetic force calibration was performed using an atomic force microscopy (AFM) probe.
Main Results:
- The microhand offers a grasping range of 0-260 μm.
- Achieved a clamping force resolution of 0.48 μN.
- Demonstrated stable grasping, transport, and assembly of microbeads.
Conclusions:
- The magnetically driven soft microhand enables force-controlled micromanipulation.
- This system shows significant potential for biological and industrial micromanipulation applications.
