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MiGriBot: A miniature parallel robot with integrated gripping for high-throughput micromanipulation.
Maxence Leveziel1, Wissem Haouas1, Guillaume J Laurent1
1FEMTO-ST Institute, CNRS, Univ. Bourgogne Franche-Comté, 24 rue Alain Savary, F-25000 Besançon, France.
Science Robotics
|August 24, 2022
Summary
This study introduces the Millimeter Gripper Robot (MiGriBot), a novel robotic system for microscale manipulation. MiGriBot achieves a significantly faster manipulation throughput of 10 cycles per second, crucial for microassembly industries.
Area of Science:
- Robotics
- Microengineering
- Mechatronics
Background:
- Current robotic micromanipulation struggles with low throughput, limiting industrial applications.
- High-speed, precise microassembly is essential for advancing microelectronics and biotechnology.
Purpose of the Study:
- To develop a novel robotic system, MiGriBot, for high-throughput microscale pick-and-place operations.
- To overcome the throughput limitations of existing microtweezers systems.
Main Methods:
- Design and implementation of MiGriBot, a miniaturized parallel robot with soft joints and a configurable platform.
- Utilizing piezoelectric bending actuators for microtweezers actuation to reduce inertia.
- Integration of soft joints for miniaturization and friction reduction.
Main Results:
- MiGriBot achieves a manipulation throughput of 10 pick-and-place cycles per second for micrometer-sized objects.
- The system demonstrates a precision of 1 micrometer.
- Reduced inertia and friction contribute to enhanced performance.
Conclusions:
- MiGriBot offers a significant advancement in microscale robotic manipulation speed.
- The developed technology is poised to enable robotized microassembly industries.
- The combination of parallel kinematics, soft joints, and a configurable platform is key to MiGriBot's success.
