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.
|
PDF
42MB |
| 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) |
| Link to this item: | https://purl.utwente.nl/essays/69428 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
Show download statistics for this publication
Show download statistics for this publicationRepository Staff Only: item control page