Autonomous Robotic Pick-and-Place of Microobjects
Autonomous Robotic Pick-and-Place of Microobjects
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DOI：
10.1109/tro.2009.2034831
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发表时间：
2010-02-01
影响因子：
7.8
通讯作者：
Sun, Yu
中科院分区：
文献类型：
--
作者：
Zhang, Yong;Chen, Brandon K.;Sun, Yu
本文提出了一种机器人系统，能够以高精度、可靠性和速度拾取和释放微型物体。由于力缩放定律，微观尺度上的大粘附力使得快速、准确地释放微观物体成为显微操作中长期存在的挑战，从而成为自动机器人拾取和放置微米尺寸物体的障碍。该系统采用新型微机电系统（MEMS）微夹具，具有可控的插入结构来撞击微型物体，从而获得足够的动量来克服粘附力。通过在周围环境中操纵 7.5-10.9 μm 硼硅酸盐玻璃球，对性能进行实验量化。实验结果表明，该系统首次实现了100%的释放成功率（基于700次试验），释放精度达到0.45+/-0.24μm。通过视觉识别微夹具和微球、视觉检测微夹具与基板的接触以及基于视觉的控制，实现了高速、自动化的微型机器人拾放。示例图案是通过自动微机器人拾取和放置微球构建的，实现了 6 秒/球的速度，这比文献中报道的最高速度快一个数量级。
This paper presents a robotic system that is capable of both picking up and releasing microobjects with high accuracy, reliability, and speed. Due to force-scaling laws, large adhesion forces at the microscale make rapid, accurate release of microobjects a long-standing challenge in micromanipulation, thus representing a hurdle toward automated robotic pick-and-place of micrometer-sized objects. The system employs a novel microelectromechanical systems (MEMS) microgripper with a controllable plunging structure to impact a microobject that gains sufficient momentum to overcome adhesion forces. The performance was experimentally quantified through the manipulation of 7.5-10.9 mu m borosilicate glass spheres in an ambient environment. Experimental results demonstrate that the system, for the first time, achieves a 100% success rate in release (which is based on 700 trials) and a release accuracy of 0.45+/-0.24 mu m. High-speed, automated microrobotic pick-and-place was realized by visually recognizing the microgripper and microspheres, by visually detecting the contact of the microgripper with the substrate, and by vision-based control. Example patterns were constructed through automated microrobotic pick-and-place of microspheres, achieving a speed of 6 s/sphere, which is an order of magnitude faster than the highest speed that has been reported in the literature.