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| Mechanical grippers can also be used for manipulating micron-sized components. Sanchez-Salmeron et al. reviewed the existing systems for micro handling and transportation (Sanchez-Salmeron et al., 2005). Fig. 2.6 shows the hangdling of a live cell by a mechanical gripper (Gilbert 2008). Typical manipulation dimensions are in the range of micrometers up to a few millimetres, and the typical location accuracy is in the range of 0.1 to 10 . There are primarily three types of micro grippers: friction, hydraulic, and pneumatic. Gravity shall not be considered as the main force being applied to the part about handling methods at the micro-scale. Unwanted surface forces such as electrostatic, van der Waals and surface tension forces dominate at such scale. All these forces are known as adhesive forces (Fearing et al., 1995). Therefore, the pick-and-place method is difficult in micro-world taking into account of adhesive forces. To solve the problem, sensor control is often required to compensate for the inaccuracies resulting caused by the adhesive forces. Another survey of micro mechanical grippers for biotechnology applications is available in (Ouyang et al., 2008). The authors have pointed out that various microfabrication techniques are being increasingly used to grasp objects of different shapes with high positioning accuracy and a large number of degrees of freedom. |
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2楼2011-04-28 18:05:40
【答案】应助回帖
syclee(金币+15, 翻译EPI+1): 2011-04-28 20:30:32
机械手抓也可以被用来控制微米级的部件，Sanchez和Salmeron等人审查了现有的微处理和运输系统，图2.6说明了用机械手抓对干细胞的微处理，(Gilbert 2008)。典型的机械手抓操纵尺寸在微米级到几个毫米之间，而其定位准确性在0.1 to 10 之间。有三种基本类别的微型手抓：摩擦型，气动型，水压型。在微观尺度处理方法层面重力不应当被认为是主要因素。而是像范德华引力，表面张力，静电引力这些多余的表面力占主导地位，所有的这些力被称为细胞粘附力(Fearing et al., 1995)。因此在微观世界很难用pick-and-place方法计算细胞粘附力，为解决这个问题，传感器的控制经常被用来补偿由细胞粘附力所引起的误差。另一项关于机械手抓在生物技术方面应用调查显示：各种微细加工技术正被快速应用到高定位精度和高自由度的物品上。   |
3楼2011-04-28 18:11:31
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4楼2011-04-28 18:13:01