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Keywords = one-finger gripper

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22 pages, 16789 KB  
Article
One-Finger Gripper for Microobjects to Submillimeter-Sized Objects Based on Temperatures of Dew and Freezing Points
by Božidar Bratina, Dušan Fister, Jernej Nezman, Jakob Šafarič and Riko Šafarič
Micromachines 2026, 17(5), 573; https://doi.org/10.3390/mi17050573 - 5 May 2026
Viewed by 411
Abstract
The new method proposed in this study, featuring a one-finger gripper, uses three types of forces—van der Waals force, capillary force, and coupling force due to ice—to grip and release microobjects to submillimeter-sized objects (5 to 300 µm). The gravitational force of an [...] Read more.
The new method proposed in this study, featuring a one-finger gripper, uses three types of forces—van der Waals force, capillary force, and coupling force due to ice—to grip and release microobjects to submillimeter-sized objects (5 to 300 µm). The gravitational force of an object can be neglected in the case of microobjects, but this is not the case for submillimeter-sized objects. This is the first reason that we use the coupling force due to ice; the second reason is that the shape of a micro- or submillimeter-sized object does not matter in this case. The usage of all three forces yields greater versatility regarding objects of different sizes and shapes and, consequently, greater overall reliability in gripping or releasing compared with methods that use only one or two of the mentioned forces. In this study, the laboratory set-up involved the active control of the temperature for both the one-finger gripper and the releasing surface for objects from −25 °C to 40 °C in a closed dust-free chamber in atmospheric air at relative humidity (RH) = 30%. A relatively low RH was achieved with the RH controller, enabling the release or grip procedures to last approx. 2–3 s for microobjects and 6 s for submillimeter-sized objects with the same equipment. Full article
(This article belongs to the Special Issue Recent Study and Progress in Micro/Nanorobots)
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16 pages, 4813 KB  
Article
Reliable and Accurate Release of Micro-Sized Objects with a Gripper that Uses the Capillary-Force Method
by Suzana Uran, Riko Šafarič and Božidar Bratina
Micromachines 2017, 8(6), 182; https://doi.org/10.3390/mi8060182 - 8 Jun 2017
Cited by 23 | Viewed by 7583
Abstract
There have been recent developments in grippers that are based on capillary force and condensed water droplets. These are used for manipulating micro-sized objects. Recently, one-finger grippers have been produced that are able to reliably grip using the capillary force. To release objects, [...] Read more.
There have been recent developments in grippers that are based on capillary force and condensed water droplets. These are used for manipulating micro-sized objects. Recently, one-finger grippers have been produced that are able to reliably grip using the capillary force. To release objects, either the van der Waals, gravitational or inertial-forces method is used. This article presents methods for reliably gripping and releasing micro-objects using the capillary force. The moisture from the surrounding air is condensed into a thin layer of water on the contact surfaces of the objects. From the thin layer of water, a water meniscus between the micro-sized object, the gripper and the releasing surface is created. Consequently, the water meniscus between the object and the releasing surface produces a high enough capillary force to release the micro-sized object from the tip of the one-finger gripper. In this case, either polystyrene, glass beads with diameters between 5–60 µm, or irregularly shaped dust particles of similar sizes were used. 3D structures made up of micro-sized objects could be constructed using this method. This method is reliable for releasing during assembly and also for gripping, when the objects are removed from the top of the 3D structure—the so-called “disassembling gripping” process. The accuracy of the release was lower than 0.5 µm. Full article
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