Micromanipulation of Flexible and Rigid Objects

题目：柔性和刚性物体的微操作spi: Ron lumia新墨西哥大学这项工作的目标是对如何抓住尺寸在1-100微米之间的刚性和柔性物体有更好的理论和实践理解。我们将为离子聚合物金属复合材料（IPMC）开发一个模型，该模型将用于实现微夹持器。这种电活性材料仅在几伏特的驱动下就表现出很大的偏转。从技术上讲，我们将探索两个基本领域。第一个问题涉及到IPMC材料可以切割多小，并且仍然可以作为微夹持器使用。我们将为这种材料的微观特性开发一个新的模型。使用该模型，我们将预测微夹持器的性能，例如强度，并通过构建各种微夹持器来测试该模型。第二个问题与释放对象有关。由于小物体的重力比其他粘附力小几个数量级，因此将探索一种新的释放物体的方法。我们建议在微夹持器试图释放物体时，向其手指注入短电压脉冲。这将改变储存在手指上的静电电荷的极性，从而使物体远离手指。这项工作的影响可能是显著的，因为微夹持器是各种应用的使能技术。微型夹具将需要抓住、操纵和放置小部件来创建产品。对于柔性物体，微夹持器可以操纵细胞，用于快速和廉价的DNA处理等应用。

Robotics and Computer Vision ProgramABSTRACTProposal #: 0329106Title: Micromanipulation of Flexible and Rigid ObjectsPI: Ron LumiaUniversity of New MexicoThe goal of this work is to develop a better theoretical and practical understanding of how to grasp rigid and flexible objects that range in size between 1-100 microns. We will develop a model for the ionic polymer metal composite (IPMC) material that will be used to implement a microgripper. This electroactive material exhibits large deflection from only a few volts of actuation. Technically, there are two fundamental areas we will explore. The first relates to how small the IPMC material can be cut and still function as a microgripper. We will develop a new model for the microscale properties of this material. Using this model we will predict microgripper performance, e.g., strength, and test the model by building a variety of microgrippers. The second issue relates to releasing objects. Since gravity for small objects is several orders of magnitude smaller than other adhesive forces, a new approach to release objects will be explored. We propose to inject a short voltage pulse into a microgripper finger just at the moment it tries to release an object. This will change the polarity of the electrostatic charge stored at the finger, thus driving the object from the finger. The impact of this work can be significant because the microgripper is an enabling technology for a variety of applications. Microgrippers will be needed to grasp, manipulate, and place small components to create products. For flexible objects, microgrippers can manipulate cells for applications such as rapid and inexpensive DNA processing.