ピストンのON-OFF制御による液架橋力グリッパの開発

抄録

Capillary force is an adhesion force generated by wetting the gap between two objects with liquid droplets, and it can be applied to capture miniscule complex shaped objects. In this report, we propose unique mechanism combining two kinds of liquid feeding methods such as the piston pump and the capillary phenomenon. In experiments, we evaluate the performance by measuring the capillary force of the developed gripper by an electronic balance. We also evaluate the positioning errors of automatic pick and place of cubic, cone, semi-circular shaped miniscule objects to investigate the feasibility for assembling complex shaped tiny objects.