A Review on Microscopic Visual Servoing for Micromanipulation Systems: Applications in Micromanufacturing, Biological Injection, and Nanosensor Assembly

On the Dependency of the Electromechanical Response of Rotary MEMS/NEMS on Their Embedded Flexure Hinges' Geometry

This paper investigates how the electromechanical response of MEMS/NEMS devices changes when the geometrical characteristics of their embedded flexural hinges are modified. The research is dedicated particularly to MEMS/NEMS devices which are actuated by means of rotary comb-drives. The electromechanical behavior of a chosen rotary device is assessed by studying the rotation of the end effector, the motion of the comb-drive mobile fingers, the actuator's maximum operating voltage, and the stress sustained by the flexure when the flexure's shape, length, and width change. The results are compared with the behavior of a standard revolute joint. Outcomes demonstrate that a linear flexible beam cannot perfectly replace the revolute joint as it induces a translation that strongly facilitates the pull-in phenomenon and significantly increases the risk of ruptures of the comb-drives. On the other hand, results show how curved beams provide a motion that better resembles the revolute motion, preserving the structural integrity of the device and avoiding the pull-in phenomenon. Finally, results also show that the end effector motion approaches most precisely the revolute motion when a fine tuning of the beam's length and width is performed.

An accurate and flexible image clamping center locating algorithm for micro-gripper

In the process of microassembly, aligning the end effectors with the micro-parts using image information is the basis of automated assembly. In order to realize the flexible and accurate clamping center locating of the micro-gripper with various shapes of jaws, this paper proposes an iterative-based processing algorithm. First, the locating problem is transformed into a multi-parameter optimization problem through the geometric analysis of the clamping process. Second, an iterative optimal algorithm based on the block coordinate descent is developed, in which a scaling golden section (SGS) scheme is proposed to calculate the iteration scaling parameters. Third, the lookup table and variable threshold iteration techniques are utilized to further improve the performance of the SGS scheme. Simulation results show that the proposed algorithm can efficiently locate the clamping center for various types of jaws with sub-pixel accuracy. Finally, a microassembly experiment is carried out to demonstrate the effectiveness of the algorithm.

Electrochemical grippers based on the tuning of surface forces for applications in micro- and nanorobotics

Existing approaches to robotic manipulation often rely on external mechanical devices, such as hydraulic and pneumatic devices or grippers. Both types of devices can be adapted to microrobots only with difficulties and for nanorobots not all. Here, we present a fundamentally different approach that is based on tuning the acting surface forces themselves rather than applying external forces by grippers. Tuning of forces is achieved by the electrochemical control of an electrode's diffuse layer. Such electrochemical grippers can be integrated directly into an atomic force microscope, allowing for 'pick and place' procedures typically used in macroscopic robotics. Due to the low potentials involved, small autonomous robots could as well be equipped with these electrochemical grippers that will be particularly useful in soft robotics as well as nanorobotics. Moreover, these grippers have no moving parts and can be incorporated in new concepts for actuators. The concept can easily be scaled down and applied to a wide range of objects, such as colloids, proteins, and macromolecules.

Additive Manufactured Piezoelectric-Driven Miniature Gripper

In several cases, it is desirable to have prototypes of low-cost fabrication and adequate performance. In academic laboratories and industries, miniature and microgrippers can be very useful for observations and the analysis of small objects. Piezoelectrically actuated microgrippers, commonly fabricated with aluminum, and with micrometer stroke or displacement, have been considered as Microelectromechanical Systems (MEMS). Recently, additive manufacture using several polymers has also been used for the fabrication of miniature grippers. This work focuses on the design of a piezoelectric-driven miniature gripper, additive manufactured with polylactic acid (PLA), which was modeled using a pseudo rigid body model (PRBM). It was also numerically and experimentally characterized with an acceptable level of approximation. The piezoelectric stack is composed of widely available buzzers. The aperture between the jaws allows it to hold objects with diameters lower than 500 μm, and weights lower than 1.4 g, such as the strands of some plants, salt grains, metal wires, etc. The novelty of this work is given by the miniature gripper's simple design, as well as the low-cost of the materials and the fabrication process used. In addition, the initial aperture of the jaws can be adjusted, by adhering the metal tips in the required position.