One-Finger Gripper for Microobjects to Submillimeter-Sized Objects Based on Temperatures of Dew and Freezing Points

Area of Science:

• Robotics and Micro-manipulation
• Materials Science
• Physics

Background:

• Microobject manipulation is crucial for various scientific and industrial applications.
• Existing methods often struggle with versatility across different object sizes and shapes.
• Gravitational forces become significant for submillimeter objects, posing challenges for traditional grippers.

Purpose of the Study:

• To develop a versatile and reliable gripping method for micro- and submillimeter-sized objects.
• To investigate the combined use of van der Waals, capillary, and ice-coupling forces for object manipulation.
• To demonstrate the effectiveness of a one-finger gripper system across a range of object dimensions.

Main Methods:

• A novel one-finger gripper was designed and implemented.
• The gripper utilizes a combination of van der Waals force, capillary force, and ice-coupling force.
• Active temperature control (-25 °C to 40 °C) and controlled relative humidity (30%) were employed in a dust-free chamber.
• Object gripping and releasing times were measured for microobjects and submillimeter-sized objects.

Main Results:

• The integrated use of three forces significantly enhanced gripping and releasing versatility and reliability.
• The method successfully manipulated objects ranging from 5 to 300 µm.
• Gripping and releasing procedures were rapid, taking approximately 2-3 seconds for microobjects and 6 seconds for submillimeter objects.
• The system demonstrated effectiveness regardless of object shape.

Conclusions:

• The proposed one-finger gripper, leveraging multiple forces, offers a robust solution for micro- and submillimeter object manipulation.
• This approach overcomes limitations of single-force methods, providing greater adaptability to object size and shape.
• The developed technology shows promise for advanced micro-assembly and handling tasks.