A Submerged Freeze Microgripper for Micromanipulations

  title={A Submerged Freeze Microgripper for Micromanipulations},
  author={Beatriz Lopez Walle and Micha{\"e}l Gauthier and Nicolas Chaillet},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
Efficient, reliable and flexible handling is still very challenging in micromanipulation and micro-assembly. In this paper, we propose an original thermally actuated gripper based on the use of ice to manipulate submerged artificial micro-objects sized under 100 mum. Manipulating in liquid surroundings can indeed be more interesting than in dry conditions. A comparative analysis on the impact of dry and liquid media on surface forces, contact forces and hydrodynamic forces shortly given first… CONTINUE READING