From MMVLWiki

Table of contents

1 Micromanipulators 1.1 Prototype by Julien Lacheray 1.2 Piezo gripper by Julien Demarest 2 See Also 3 External Links

Micromanipulators

Prototype by Julien Lacheray

Gripping operation (1.5 MByte video (http://vision.eng.shu.ac.uk/jan/MagneticActuation1.avi))

Coils and magnets (856 kByte video (http://vision.eng.shu.ac.uk/jan/MagneticActuation2.avi))

In the absence of piezo-actuators (the order was delayed), an alternative actuation method was used for the prototype gripper. An extensive literature survey was done.

Piezo gripper by Julien Demarest

Frontal view of gripper	Side view of gripper	Powersource for piezos
Gripper in open state (1.8MByte video (http://vision.eng.shu.ac.uk/jan/demarest_gripper.avi))	Gripper in closed state	Picking up ground coffee (6.1MByte video (http://vision.eng.shu.ac.uk/jan/demarest_manipulation.avi))

Thanks to John Stanley (rapid prototyping (http://en.wikipedia.org/wiki/Rapid_prototyping)) and Ralph Gay (micro-parts) for helping.

See Also

• Available Student Projects

External Links

• Julien Lacheray's report (http://vision.eng.shu.ac.uk/jan/Design%20and%20development%20of%20a%20piezoelectric%20gripper%20for%20micromanipulation.pdf)
• Julien Demarest's report (http://vision.eng.shu.ac.uk/jan/report_demarest.pdf)
• Microrobots at IPR (http://i60p4.ira.uka.de/~seyfried/tikiwiki-1.7.3/tiki-index.php?page=Microrobots)
• Physik Instrumente Gmbh (http://www.physikinstrumente.de/) - nanopositioning technology and motion control systems
• Goodfellow (http://www.goodfellow.com/) - metals and materials for research and industry
• Kleindiek Nanotechnik (http://www.kleindiek.com/)
• Zyvex microgripper (http://www.zyvex.com/Products/CMPM_001a.htm)
• Nanomobile (http://northumbria.ac.uk/business/ic/casestudy/prj_nm/)
• John Speich, Michael Goldfarb: A compliant-mechanism-based three degree-of-freedom manipulator for small-scale manipulation (http://journals.cambridge.org/article_S0263574799001903) (PDF)
• Ying-Chien Tsai, Sio Hou Lei, Hendra Sudin: Design and analysis of planar compliant microgripper based on kinematic approach (http://www.iop.org/EJ/abstract/0960-1317/15/1/022)
• Da Vinci surgical robot (http://www.youtube.com/watch?v=x9Bjs99A0k0)