Publication

Characterization of an inertial micro gripper based on adhesion forces

Reymond Clavel
2006
Conference Papers

Abstract

Adhesive forces become predominant in the micro world comparing to the gravity effect implying the development of new micro manipulation strategies. This paper presents the design and conception of a gripper that use the inertial principle for the release (applying a high acceleration, in the order of 10’000g) and the adhesion for catching a micro part of 50μm with the goal of precisely control the position after release. Experiments were conducted and showed a positioning repeatability of 2μm to 6μm depending on the relative humidity with a success rate of more than 90%.

Official source

https://infoscience.epfl.ch/entities/publication/5ee65e15-d80f-4a75-972a-005404249b36

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Reymond Clavel
2006
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/5ee65e15-d80f-4a75-972a-005404249b36

About this result

Related concepts (29)

Adhesion

Adhesion is the tendency of dissimilar particles or surfaces to cling to one another (cohesion refers to the tendency of similar or identical particles/surfaces to cling to one another). The forces that cause adhesion and cohesion can be divided into several types. The intermolecular forces responsible for the function of various kinds of stickers and sticky tape fall into the categories of chemical adhesion, dispersive adhesion, and diffusive adhesion.

Inertial frame of reference

In classical physics and special relativity, an inertial frame of reference (also called inertial space, or Galilean reference frame) is a frame of reference not undergoing any acceleration. It is a frame in which an isolated physical object—an object with zero net force acting on it—is perceived to move with a constant velocity or, equivalently, it is a frame of reference in which Newton's first law of motion holds.

Humidity

Humidity is the concentration of water vapor present in the air. Water vapor, the gaseous state of water, is generally invisible to the human eye. Humidity indicates the likelihood for precipitation, dew, or fog to be present. Humidity depends on the temperature and pressure of the system of interest. The same amount of water vapor results in higher relative humidity in cool air than warm air. A related parameter is the dew point. The amount of water vapor needed to achieve saturation increases as the temperature increases.

Related publications (2)

Characterization of an inertial micro gripper based on adhesion forces

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