An automatic approach and grip method of micro-particle in 3D space

Author:

Zhang Juan1,Wu Wenrong1,Bi Lie1

Affiliation:

1. Research Center of Laser Fusion, China Academy of Engineering Physics, Mianyang, P. R. China

Abstract

Micro-particle is hard to be observed as small scale and hard to be gripped as micro-force from substrate, an automatic approach and grip method of micro-particle in the guide of microscopic vision systems is proposed in the paper to grip micro-particle. First, the micro-gripper driven by electrostatic force is introduced and forces in gripping process are analyzed. Second, a micro-assembly robot composed of two microscopic vision systems is established to monitor micro-operation process and to operate micro-particle. Image features of micro-particle and micro-gripper end-effector are extracted by image feature extraction method to calculate relative position of micro-particle and micro-gripper in image space. Last, a movement control strategy in 3D space based on image Jacobian matrix is studied to control micro-gripper approach and align with micro-particle. Experimental results verified the effectiveness of proposed methods.

Publisher

World Scientific Pub Co Pte Lt

Subject

Condensed Matter Physics,Statistical and Nonlinear Physics

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Development Assembly Methods of the Micro-capillary Fill-tubes and Micro-capsule;2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO);2022-08-08

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