Fiche publication
Date publication
août 2021
Journal
Micromachines
Auteurs
Membres identifiés du Cancéropôle Est :
Dr GAUTHIER Michaël
Tous les auteurs :
Kumar P, Gauthier M, Dahmouche R
Lien Pubmed
Résumé
Robotic manipulation and assembly of micro and nanocomponents in confined spaces is still a challenge. Indeed, the current proposed solutions that are highly inspired by classical industrial robotics are not currently able to combine precision, compactness, dexterity, and high blocking forces. In a previous work, we proposed 2-D in-hand robotic dexterous manipulation methods of arbitrary shaped objects that considered adhesion forces that exist at the micro and nanoscales. Direct extension of the proposed method to 3-D would involve an exponential increase in complexity. In this paper, we propose an approach that allows to plan for 3-D dexterous in-hand manipulation with a moderate increase in complexity. The main idea is to decompose any 3-D motion into a 3-D translation and three rotations about specific axes related to the object. The obtained simulation results show that 3-D in-hand dexterous micro-manipulation of arbitrary objects in presence of adhesion forces can be planned in just few seconds.
Mots clés
finger path planning, micro-handling, micro-manipulation
Référence
Micromachines (Basel). 2021 08 19;12(8):
