Micromanipulation of Flexible and Rigid Objects

机器人和计算机视觉计划摘要提案编号：0329106标题：柔性和刚性物体的微操作PI：罗恩Lumia新墨西哥大学这项工作的目标是发展一个更好的理论和实践的理解，如何抓住刚性和柔性的物体，尺寸范围在1-100微米。我们将开发一个模型的离子聚合物金属复合材料（IPMC）的材料，将用于实现微夹持器。这种电活性材料仅从几伏的致动就表现出大的偏转。从技术上讲，我们将探索两个基本领域。第一个问题涉及IPMC材料可以切割到多小，并且仍然可以用作微夹持器。我们将开发一个新的模型，这种材料的微观性质。使用该模型，我们将预测微夹持器的性能，例如，强度，并通过构建各种微型夹具来测试模型。第二个问题涉及释放对象。由于小物体的重力比其他粘附力小几个数量级，因此将探索释放物体的新方法。我们建议注入一个短的电压脉冲到一个微夹钳手指就在那一刻，它试图释放一个对象。这将改变存储在手指上的静电荷的极性，从而从手指上驱动物体。这项工作的影响可能是显着的，因为微夹持器是一种使各种应用的技术。需要微型夹具来抓取、操作和放置小部件以创建产品。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.