Proceedings of the
9th International Conference of Asian Society for Precision Engineering and Nanotechnology (ASPEN2022)
15 – 18 November 2022, Singapore

Capillary Force Gripper With a Polygonal Nozzle for Pick & Place and Rotation of 1mm Objects

Eri Fukuchi1, Ryohei Sako1, Naoto Watanabe1, Eiji Kusui1 and Ohmi Fuchiwaki1,a

1Department of Mechanical Engineering, Yokohama National University, 79-1 Tokiwadai Hodogaya-ku, Yokohama, Kanagawa, Japan


In this paper, we describe newly proposed polygonal nozzle capillary force gripper with a rotation function. It enables fast water replenishment by the capillary phenomenon and fast droplet formation by diaphragm on/off control. Capillary force is one of the most dominant forces in micro-objects and is suitable for capturing and releasing micro--objects with heterogeneous and complex shapes because it acts on objects of any shape due to the flexible deformation of water. With the gripper developed in the previous research, it was impossible to control the object to arbitrary posture angle. In this study, we have developed the rotatable gripper by using polygonal nozzle and rotation stage. In experiments, we conducted pick-and-place of objects using the developed gripper and evaluated its position and angular accuracy from the target placement angle. We will continue to improve this gripper for practical use as a complex shaped fragile and soft materials in biomedical, soft matter, microorganism, microfossils, and MEMS fields.

Keywords: Capillary force, Self-alignment, Posture angle control, Micromanipulation

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