Abstract
This paper presents a release method for micro-objects. To improve position accuracy after release, we propose 3D high-speed end-effector motions. The classical release task focuses on the detachment of a micro-object from an end-effector. The technique utilizes merely the vibration of the end-effector regardless of the pattern of movement. To release different sizes of micro- objects and place them precisely at the desired locations in both air and liquid media, in this paper, we propose high-speed motions by analyzing the adhesion force and movement of micro-objects after separation. To generate high end-effector acceleration, many researchers have applied simple vibration by using an additional actuator. However, in our research, 3D high-speed motion with apt amplitude is accomplished by using only a compact parallel mechanism. To verify the advantages of the proposed motion, we compare five motions, 1D motions (in X-, Y-, and Z-directions) and circular motions (clockwise and counterclockwise directions), by changing the frequency and amplitude of the end-effector. Experiments are conducted with different sizes of microbeads and NIH3T3 cells. From these experiments, we conclude that a counterclockwise circular motion can release the objects precisely in air, while 1D motion in the Y direction and two circular motions can detach the objects at the desired positions after release in a liquid environment.
Highlights
Manipulation of micro-scale objects is important for diverse applications in industrial, biological, and biomedical research such as in the assembly of biological cells for tissue engineering, development of sensing devices, and micro-surgical systems
To release different sizes of microobjects and place them precisely at the desired locations in both air and liquid media, in this paper, we propose high-speed motions by analyzing the adhesion force and movement of micro-objects after separation
We decided that the useful range of the amplitude of the end-effector was from 4 μm to 9 μm except for 1D motion in the Y-direction
Summary
Manipulation of micro-scale objects is important for diverse applications in industrial, biological, and biomedical research such as in the assembly of biological cells for tissue engineering, development of sensing devices, and micro-surgical systems. The adhesion force includes van der Waals, electrostatic, capillary, and surface tension forces These forces make it easy to pick up and transport an object, whereas the release of a micro-object is more difficult. Diverse methods have been studied in order to release and place micro-scale objects precisely. Passive release techniques control the adhesion forces between the probe-object and object-substrate to detach the micro-object from the end-effector. The method would not be suitable for controlling biological cells which depend mainly on surface properties. To overcome these disadvantages of the method, Horade et al proposed an optimum end-effector having an uneven surface in order to release 20 μm mouse fibroblast cells without adhesion [5]. It was difficult to control the final position in a short time due to the water flow caused by the end-effector’s motion, slow operation for releasing was required
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