Title :
Design rules for a capillary gripper in microassembly
Author :
Lambert, Pierre ; Delchambre, Alain
Author_Institution :
Dept. of CAD-CAM, Univ. Libre de Bruxelles, Brussels
Abstract :
The specificities of microassembly allow to turn oneself to new, and already validated, handling principles like capillary forces. This paper aims at quantifying the influence of major parameters like surface tension, contact angles, gripper geometry, volume of liquid, handling strategy, etc. Therefore, it presents both the numerical and the experimental methodologies that have been used in order to extract design rules of a capillary gripper, to improve the picking capacities on the one hand and the releasing strategies on the other hand
Keywords :
design engineering; grippers; industrial manipulators; microassembling; numerical analysis; robotic assembly; surface tension; capillary forces; capillary gripper; contact angles; microassembly; surface tension; Assembly; Bridges; Computational modeling; Ethanol; Geometry; Grippers; Microassembly; Silicon; Solids; Surface tension;
Conference_Titel :
Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing, 2005. (ISATP 2005). The 6th IEEE International Symposium on
Conference_Location :
Montreal, Que.
Print_ISBN :
0-7803-9080-6
DOI :
10.1109/ISATP.2005.1511452
