Abstract
In this paper, an approach is proposed for the simultaneous manipulation of multiple hexagonal and square plastic–glass type microparts that are positioned randomly on a smart platform (SP) using electrostatic forces applied by the suitable activation of circular conductive electrodes. First, the statics analysis of a micropart on the SP is presented in detail and the forces and torques that are applied to and around the center of mass (COM) respectively due to the activation of a SP electrode are determined. The “single electrode activation” (SEA) and the “multiple electrodes activations” (MEA) algorithms are introduced to determine the feasible SP electrodes activations for the microparts manipulation considering their initial configuration. An algorithm for the simultaneous handling of multiple microparts is studied considering the collision avoidance with neighboring microparts. An approach is presented for the simultaneous centralization and alignment of the microparts preparing them for their batch parallel motion on the SP. The developed algorithms are applied to a simulated platform and the results are presented and discussed.
Highlights
The manipulation of the microcomponents building micro-electromechanical systems (MEMS) is an area, which attracts the interest of many researchers globally
The contactless micromanipulation with forces that overcome the weight of the microcomponents in the micro world is an upcoming solution promising to make the microparts handling more autonomous
The status of the force fields that are applied in the whole handling region has to change for each micromanipulation step in order to be customized in the shape and the configuration of a single micropart
Summary
The manipulation of the microcomponents building micro-electromechanical systems (MEMS) is an area, which attracts the interest of many researchers globally. The status of the force fields that are applied in the whole handling region has to change for each micromanipulation step in order to be customized in the shape and the configuration of a single micropart This constraint complicates the parallel manipulation of multiple different-shaped, randomly-oriented microcomponents. Techniques have been developed for the planar motion of the micropart due to the micro air-injectors that are placed underneath the manipulation surface of the platform [19,20] On this device, the micropart is pushed by the air and it is driven to a new equilibrium position with low accuracy due to the high magnitude of the applied force. According to the authors’ knowledge, there are no works including activation methods for the motion of the randomly positioned microparts between two equilibrium positions and for their parallel centralization and aligning on the SP. Static obstacles’ configuration space Group of non-centralized microparts Angle that specifies the direction of the Fi Output of the centralization algorithm
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