Author(s)

Eunhye Kim¹, Masaru Kojima¹, Kazuto Kamiyama¹, Mitsuhiro Horade¹, Yasushi Mae¹, Tatsuo Arai^2,3

¹Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Osaka, Japan.
²Beijing Advanced Innovation Center for Intelligent Robot and Systems, Beijing Institute of Technology, Beijing, China.
³The University of Electro-Communications, Tokyo, Japan.

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.

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

Kim, E. , Kojima, M. , Kamiyama, K. , Horade, M. , Mae, Y. and Arai, T. (2018) High-Speed Active Release End-Effector Motions for Precise Positioning of Adhered Micro-Objects. World Journal of Engineering and Technology, 6, 81-103. doi: 10.4236/wjet.2018.61005.