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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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【答案】應助回帖
syclee(金幣+15, 翻譯EPI+1): 2011-04-28 20:30:32
機械手抓也可以被用來控制微米級的部件，Sanchez和Salmeron等人審查了現(xiàn)有的微處理和運輸系統(tǒng)，圖2.6說明了用機械手抓對干細胞的微處理，(Gilbert 2008)。典型的機械手抓操縱尺寸在微米級到幾個毫米之間，而其定位準確性在0.1 to 10 之間。有三種基本類別的微型手抓：摩擦型，氣動型，水壓型。在微觀尺度處理方法層面重力不應當被認為是主要因素。而是像范德華引力，表面張力，靜電引力這些多余的表面力占主導地位，所有的這些力被稱為細胞粘附力(Fearing et al., 1995)。因此在微觀世界很難用pick-and-place方法計算細胞粘附力，為解決這個問題，傳感器的控制經(jīng)常被用來補償由細胞粘附力所引起的誤差。另一項關于機械手抓在生物技術方面應用調(diào)查顯示：各種微細加工技術正被快速應用到高定位精度和高自由度的物品上。   |
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