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Actuators 2018, 7(2), 27; https://doi.org/10.3390/act7020027

Polymer Microgripper with Autofocusing and Visual Tracking Operations to Grip Particle Moving in Liquid

Department of Mechanical Engineering, National Cheng Kung University, Tainan 70101, Taiwan
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Received: 21 May 2018 / Revised: 7 June 2018 / Accepted: 7 June 2018 / Published: 11 June 2018
(This article belongs to the Special Issue Micromanipulation)
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Abstract

A visual-servo automatic micromanipulating system was developed and tested for gripping the moving microparticle suspended in liquid well. An innovative design of microgripper integrated with flexible arms was utilized to constrain particles in a moving work space. A novel focus function by non-normalized wavelet entropy was proposed and utilized to estimate the depth for the alignment of microgripper tips and moving particle in the same focus plane. An enhanced tracking algorithm, which is based on Polar Coordinate System Similarity, incorporated with template matching, edge detection method, and circular Hough Transform, was implemented. Experimental tests of the manipulation processes from moving gripper to tracking, gripping, transporting, and releasing 30–50 μm Polystyrene particle in 25 °C water were carried out. View Full-Text
Keywords: microgripper; visual servo; moving particle; autofocus; tracking; gripping microgripper; visual servo; moving particle; autofocus; tracking; gripping
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Chang, R.-J.; Chien, Y.-C. Polymer Microgripper with Autofocusing and Visual Tracking Operations to Grip Particle Moving in Liquid. Actuators 2018, 7, 27.

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