Modeling and Implementation of Nanoscale Robotic Grasping
To understand robotic grasping at the nanoscale, contact mechanics between nano grippers and nano samples was studied. Contact mechanics models were introduced to simulate elastic contacts between various pro.les of .at surface, sphere and cylinder for different types of nano samples and nano grippers. Analyses and evaluation instances indicate that friction forces, commonly used in macro grasping to overcome the gravity, at nanoscale is often not enough to overcome relatively strong adhesion forces to pick up the nano sample deposited on a substrate due to tiny contact area of the grasping. Two-.nger grippers are proposed for the stable nanoscale grasping and a nonparallel gripper with a con.guration was demonstrated with better grasping capabilities than a parallel one. To achieve the robotic nanoscale grasping, a nano gripper constructed from two individually actuated and sensed tips is presented. Pick-andplace manipulation of silicon nanowires validate the theoretical analyses and capabilities of the proposed nano gripper.
Hui Xie Pierre Lambert St(e)phane R(e)gnier
Institut des Syst(e)mes Intelligents et Robotique (ISIR),Universit(e) Pierre et Marie Curie/CNRS UMR Universit(e) libre de Bruxelles,BEAMS department CP 165/56,50 avenue F.D. Roosevelt,B-1050 Bruxelles
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3634-3639
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）