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Fang, Y. and Tan, X. (2006) A Dynamic JKR Model with Application to Vibrational Release in Micromanipulation. IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, 9-15 October 2006, 1341-1346.
https://doi.org/10.1109/IROS.2006.281920

has been cited by the following article:

  • TITLE: High-Speed Active Release End-Effector Motions for Precise Positioning of Adhered Micro-Objects

    AUTHORS: Eunhye Kim, Masaru Kojima, Kazuto Kamiyama, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    KEYWORDS: Adhesion Force, Vibration Generation, Releasing Strategy, Micro-Manipulation

    JOURNAL NAME: World Journal of Engineering and Technology, Vol.6 No.1, February 1, 2018

    ABSTRACT: This paper presents a release method for micro-objects. To improve position accuracy after release, we propose 3D high-speed end-effector motions. The classical release task focuses on the detachment of a micro-object from an end-effector. The technique utilizes merely the vibration of the end-effector regardless of the pattern of movement. To release different sizes of micro- objects and place them precisely at the desired locations in both air and liquid media, in this paper, we propose high-speed motions by analyzing the adhesion force and movement of micro-objects after separation. To generate high end-effector acceleration, many researchers have applied simple vibration by using an additional actuator. However, in our research, 3D high-speed motion with apt amplitude is accomplished by using only a compact parallel mechanism. To verify the advantages of the proposed motion, we compare five motions, 1D motions (in X-, Y-, and Z-directions) and circular motions (clockwise and counterclockwise directions), by changing the frequency and amplitude of the end-effector. Experiments are conducted with different sizes of microbeads and NIH3T3 cells. From these experiments, we conclude that a counterclockwise circular motion can release the objects precisely in air, while 1D motion in the Y direction and two circular motions can detach the objects at the desired positions after release in a liquid environment.