MiGriBot: A miniature parallel robot with integrated gripping for high-throughput micromanipulation.
Fiche publication
Date publication
août 2022
Journal
Science robotics
Auteurs
Membres identifiés du Cancéropôle Est :
Dr GAUTHIER Michaël
Tous les auteurs :
Leveziel M, Haouas W, Laurent GJ, Gauthier M, Dahmouche R
Lien Pubmed
Résumé
Although robotic micromanipulation using microtweezers has been widely explored, the current manipulation throughput hardly exceeds one operation per second. Increasing the manipulation throughput is thus a key factor for the emergence of robotized microassembly industries. This article presents MiGriBot (Millimeter Gripper Robot), a miniaturized parallel robot with a configurable platform and soft joints, designed to perform pick-and-place operations at the microscale. MiGriBot combines in a single robot the benefits of a parallel kinematic architecture with a configurable platform and the use of soft joints at the millimeter scale. The configurable platform of the robot provides an internal degree of freedom that can be used to actuate microtweezers using piezoelectric bending actuators located at the base of the robot, which notably reduces the robot's inertia. The soft joints make it possible to miniaturize the mechanism and to avoid friction. These benefits enable MiGriBot to reach a throughput of 10 pick-and-place cycles per second of micrometer-sized objects, with a precision of 1 micrometer.
Mots clés
Biomechanical Phenomena, Equipment Design, Hand Strength, Micromanipulation, Robotics
Référence
Sci Robot. 2022 08 24;7(69):eabn4292