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A Volume-Tuning Capillary Gripper That Enhances Handling Capabilities and Enables Testing of Micro-Components.

Adam Chafaï¹, Amin Ibrahimi², Pierre Lambert¹

¹Transfers, Interfaces and Processes (TIPs) Department, Université Libre de Bruxelles (ULB), CP 165/67, 50 Av. F.D. Roosevelt, 1050 Brussels, Belgium.

|August 26, 2022

Summary

This study introduces a novel volume-tuning capillary gripper. It overcomes limitations in micro-assembly and pick-and-place tasks by controlling liquid volume, enhancing handling precision and inspection capabilities.

Keywords:

capillary force capillary transportation gripper micro-assembly micro-manipulation pick-and-place semi-conductors

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Area of Science:

Micro-assembly and robotics
Surface science and fluid mechanics

Background:

Capillary forces enable self-alignment in micro-assembly but have limitations under high loads and during visual inspection.
Existing pick-and-place machines face challenges with micro-object handling due to compression, inertial forces, and object tilt.

Purpose of the Study:

To present a novel volume-tuning capillary gripper that addresses limitations of traditional capillary grippers.
To enhance micro-assembly and pick-and-place processes by enabling precise control over liquid meniscus volume.

Main Methods:

Development of a volume-tuning capillary gripper prototype using femtosecond laser-assisted chemical etching for fused silica.
Creation of subsystem models for deeper understanding and analysis.
Extensive testing of the proof-of-concept for picking and handling capabilities.

Main Results:

Demonstrated effective picking capabilities for micro-objects.
Showcased enhanced handling precision during horizontal motions.
Validated the repeatability of liquid volume tuning for consistent gripper performance.

Conclusions:

The novel volume-tuning capillary gripper effectively overcomes limitations associated with high loads and visual inspection in micro-assembly.
This solution integrates seamlessly with existing pick-and-place machines without significant added complexity.
The developed gripper offers improved control and precision for micro-object manipulation.