TY - GEN
T1 - Parallel Pick and Place Using Two Independent Untethered Mobile Magnetic Microgrippers
AU - Zhang, Jiachen
AU - Salehizadeh, Mohammad
AU - Diller, Eric
N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].
PY - 2018/9/10
Y1 - 2018/9/10
N2 - Untethered mobile microgrippers exhibit flexibility and agility in small and constrained environments as precise and accurate robotic end-effectors, with promising potential applications in cell manipulation and microassembly. Here, we propose the first scheme to independently and simultaneously position two microgrippers on a horizontal plane for parallel targeted cargo delivery using a single global input. The separation and orientation of the two-microgripper pair are modulated by the local magnetic interactions between the two microgrippers, which are governed by a global magnetic field. The microgripper action of grasping or releasing cargoes is fully controlled by the global magnetic field without requiring additional thermal, chemical, or other stimuli. Thus, the proposed strategy only requires a single input, i.e., a global magnetic field, to control two microgrippers and therefore is simple to implement and fast-acting. As a demonstration, two microgrippers are maneuvered by a global magnetic field to pick up two cargoes and deliver them to their respective destinations. The parallel operation of two microgrippers can potentially double the overall throughput and enable the tasks that require team cooperations. The two 3D microgrippers configuration is intuitive in teleoperations, since it imitates the two-hand case of human beings.
AB - Untethered mobile microgrippers exhibit flexibility and agility in small and constrained environments as precise and accurate robotic end-effectors, with promising potential applications in cell manipulation and microassembly. Here, we propose the first scheme to independently and simultaneously position two microgrippers on a horizontal plane for parallel targeted cargo delivery using a single global input. The separation and orientation of the two-microgripper pair are modulated by the local magnetic interactions between the two microgrippers, which are governed by a global magnetic field. The microgripper action of grasping or releasing cargoes is fully controlled by the global magnetic field without requiring additional thermal, chemical, or other stimuli. Thus, the proposed strategy only requires a single input, i.e., a global magnetic field, to control two microgrippers and therefore is simple to implement and fast-acting. As a demonstration, two microgrippers are maneuvered by a global magnetic field to pick up two cargoes and deliver them to their respective destinations. The parallel operation of two microgrippers can potentially double the overall throughput and enable the tasks that require team cooperations. The two 3D microgrippers configuration is intuitive in teleoperations, since it imitates the two-hand case of human beings.
KW - Magnetic microgripper
KW - Multi-agent control at microscales
KW - Soft robotics
KW - Targeted cargo delivery
UR - http://www.scopus.com/inward/record.url?scp=85063135894&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85063135894&origin=recordpage
U2 - 10.1109/ICRA.2018.8462861
DO - 10.1109/ICRA.2018.8462861
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9781538630815
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 123
EP - 128
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - IEEE
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -