Pick and release of micro-objects: An actuation-free method to change the conformity of a capillary contact

Robotics; Textures; Topography; Capillary force; Capillary grippers; Heating source; Joule effects; Micro-objects; Release mechanism; Textured surface; Volume reductions; Grippers

Abstract :

[en] We propose a new 3D printed capillary gripper equipped with a textured surface for actuation-free release. The gripper classically picks up micro-objects exploiting the capillary forces induced by a liquid bridge. Micro-objects are released by decreasing the volume of this bridge through evaporation. This latter can be either natural or speeded up by a heating source (IR laser or Joule effect). The volume reduction changes the topography of the contact (called here conformity) between the gripper and the object. We analyze the gripper performance and rationalize the release mechanism by defining the concept of contact conformity in a capillary context. © 2019 IEEE.

Disciplines :

Mechanical engineering

Author, co-author :

Iazzolino, Antonio ; Microfluidics Lab, University of Liege, Liège, Belgium

Tourtit, Youness ; Université de Liège - ULiège > A&M

Chafai, Adam; TIPs (Tranfers, Interfaces Processes), Université Libre de Bruxelles, Bruxelles, Belgium

Gilet, Tristan ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > Microfluidique

Lambert, Pierre; TIPs (Tranfers, Interfaces & Processes), Université Libre de Bruxelles, Bruxelles, Belgium

Tadrist, Loïc ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > Microfluidique

Language :

English

Title :

Pick and release of micro-objects: An actuation-free method to change the conformity of a capillary contact

Publication date :

2019

Event name :

4th International Conference on Manipulation, Automation, and Robotics at Small Scales, MARSS 2019

Event date :

1 July 2019 through 5 July 2019

Audience :

International

Main work title :

2019 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

Publisher :

IEEE

Peer reviewed :

Peer reviewed

Additional URL :

https://ieeexplore.ieee.org/document/8860972

Name of the research project :

Project T.0050.16 (Bioinspired passive liquid dispensing); FNRS GEQ - 3D microstructuration and microengineering of surfaces with 3 photons lithography (2014-2016); Nanoscribe GT Photonics, co-funding ULB/FNRS Grant UG01415F

Funders :

F.R.S.-FNRS - Fonds de la Recherche Scientifique
FRIA - Fonds pour la Formation à la Recherche dans l'Industrie et dans l'Agriculture

Commentary :

9781728109473

Available on ORBi :

since 12 December 2020

Statistics

Number of views

118 (15 by ULiège)

Number of downloads

81 (10 by ULiège)

More statistics

Scopus citations^®

Scopus citations^®
without self-citations

OpenCitations

OpenAlex citations

Bibliography

G. Fantoni et al., "Grasping devices and methods in automated production processes," CIRP Annals, vol. 63, pp. 679-701, 2014.
H. Jia et al., "Universal Soft Robotic Microgripper," Small, in press.
D. G. Grier, "A revolution in optical manipulation," Nature, in press.
P. Lambert, Surface tension effects in microsystems, Springer, 2013, p. 4.
P. Lambert, Capillary forces in microassembly, Springer, 2007.
C. Bark, T. Binnenbose, G. Vogele, T. Weisener, M. Widmann, "Gripping with low viscosity fluids," Proceedings of the IEEE Micro Electro Mechanical Systems, pp. 301-305, January 1998.
H. Grutzeck, L. Kiesewetter, "Downscaling of grippers for micro assembly," Microsystem Technologies, vol. 8, pp. 27-31, 2002.
P. Lambert, Frank Seigneur, Sandra Koelemeijer, Jacques Jacot "A case study of surface tension gripping: the watch bearing," J. Micromech. Microeng., in press.
M. Cavaiani, Sam Dehaeck, Youen Vitry, Pierre Lambert, "Multi-scale 3D printed capillary gripper," International Conf. on Manipulation, Automation and Robotics at Small Scales, October 2018.
M. Dafflon, "Préhenseur, conditions et stratégies pour une micromanipulation de précision", Lausanne, PhD Thesis, CH: École Polytechnique Fédérale de Lausanne, 2008.
Z. Fan, W. Rong, L. Wang and L. Sun-"A single-probe capillary microgripper induced by dropwise condensation and inertial release," J. Micromech. Microeng., in press.
Z. Fan, L. Wang, W. Rong, L. Sun, "Dropwise condensation on a hydrophobic probe-tip for manipulating micro-objects," Applied physics letters, in press.
A. Vasudev, A. Jagtiani, L. Du, J. Zhe, "A low-voltage droplet microgripper for micro-object manipulation," J. Micromech. Microeng., in press.
M. Decre, R. Wolf, Manipulation of objects with fluid droplets, US patent WO 2006/0226013 A1.
F. Apoorva, R. Maccurdy, H. Lipson, System and methods for electrowetting based pick and place, WO patent 2014/014892 A2.
G. Fantoni, H. Nørgaard Hansen, M. Santochi, "A new capillary gripper for mini and macro parts," CIRP Annals, vol. 62, pp. 17-20, 2013.
J. N. Israelchvili, Intermolecular and surface forces, 3rd ed., Academic Press, 2011, p. 458.
Biganzoli, I. Fassi, and C. Pagano, "Development of a gripping system based on capillary force,"IEEE International Symposium on Assembly and Task Planning, vol. 2005, pp. 36-40, July 2005.
C. Pagano, L Zanoni, I. Fassi, F. Jovane, "Micro-assembly: Design and analysis of a gripper based on capillary force," CIRP International Seminar on Assembly Systems, pp. 165-170, November 2006.
S. Uran, R. Šafaric and B. Bratina, "Reliable and accurate release of micro-sized objects with a gripper that uses the capillary-force method," Micromachines, in press.
C.J. Gommes and T. Gilet, "Combine Dimensional Analysis with Educated Guessing." Chemical Engineering Progress 114.2: 49-54, 2018.
J. M. Skotheim and L. Mahadevan. "Soft lubrication: the elastohydrodynamics of nonconforming and conforming contacts." Physics of Fluids 17.9: 092101, 2005.
P. Lambert, " A contribution to microassembly: a study of capillary forces as a gripping principle", PhD Thesis, Université Libre de Bruxelles, 2005.
I. Langmuir, "The evaporation of small spheres." Physical review 12.5: 368, 1918.