University of Twente Student Theses


Manipulation of soft grippers for pick-and-place tasks

Brink, F. van den (2016) Manipulation of soft grippers for pick-and-place tasks.

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Abstract:Magnetic microrobots provide new opportunities in the fields of biological micromanipulation and minimally invasive surgery (e.g., micromanipulation of cells and ophthalmic microsurgery). The main requirements for implementation of these microrobotic applications are precise control and tracking of the microrobots. In this study, we use a functional stimuli responsive, self-folding, micro-scale microgrippers. The microgrippers are reversibly actuated by heat. They can be used to grasp and release particle at precise locations. The microgrippers are magnetized to control its position remotely using external magnetic fields generated by 6 orthogonal electromagnets. The microgrippers are tracked using visual feedback and a peltier element is used to control their self-folding propertis. For this project several motion control and pick and place experiments are executed. Furthermore the microgrippers will be used for autonomous sorting of differenct colored microbeads and picking up biological tissue while avoiding obstacles using a pathplanner.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:31 mathematics, 33 physics, 44 medicine, 50 technical science in general, 53 electrotechnology
Programme:Systems and Control MSc (60359)
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