A Novel Variable Volume Capillary Microgripper for Micromanipulation in Aqueous Media

Area of Science:

• Robotics and Automation
• Microfluidics
• Biotechnology

Background:

• Micromanipulation of small objects in aqueous environments is challenging due to evaporation and stability issues.
• Existing microgrippers often struggle with precise force control and adaptability to various object sizes.
• Need for robust, long-working-time systems for underwater and biological applications.

Purpose of the Study:

• To develop and validate a novel capillary microgripper for micrometer-sized object manipulation in aqueous media.
• To implement dynamic, vision-based feedback control for adaptable object capture.
• To ensure stable, long-duration operation without evaporation concerns.

Main Methods:

• Design of a capillary microgripper utilizing a non-volatile silicone oil droplet.
• Implementation of dynamic, vision-based feedback control for droplet volume adjustment.
• COMSOL Multiphysics simulations for capillary bridge analysis.
• Experimental validation of object capture and release strategies.

Main Results:

• Successful manipulation of micrometer-sized objects of various shapes and sizes in an aqueous environment.
• Demonstration of precise capillary force adjustment via droplet volume control.
• Extended working time and stable operation achieved due to non-volatile fluid.
• Development of active release strategies for captured objects.

Conclusions:

• The novel capillary microgripper provides a robust solution for underwater micromanipulation.
• The vision-guided feedback control system enables adaptable and precise object handling.
• This technology holds significant potential for applications in micro-assembly, cell manipulation, and other aqueous-based micromanipulation tasks.