2008 年 74 巻 737 号 p. 23-30
This paper addresses to develop a novel strategy to relax the adhesion forces for picking and placing operation in a micro range. In a micro range, the attracting forces such as the van der Waals, capillary, and electrostatic forces become dominating due to a scaling effect. The attractive forces cause the adhesion between the object and the endeffector. Therefore, it is hard to manipulate an object in a micro range. This paper shows that when an oscillating endeffector approaches to an object, the adhesion between the object and the oscillating endeffector can be reduced. Also, based on the experimental analysis, we clarify the relation between the oscillation and the pushing amount of the endeffector on the object, where the adhesion force can be released effectively. Using this relaxation method and the relation, we develop a strategy for picking and placing operation in a micro range. This strategy provides an accurate manipulation. Some experimental results show the effectiveness of this approach.