tailieunhanh - Innovations in Robot Mobility and Control - Srikanta Patnaik et al (Eds) Part 7

Tham khảo tài liệu 'innovations in robot mobility and control - srikanta patnaik et al (eds) part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 3 Multi View and Multi Scale Image Based Visual Servo For Micromanipulation 109 multiple view multiple scale image based visual servo is developed in sec tion . The simulation set up will be introduced in section . The experiment results are presented in section . Conclusions are drawn in section . Difficulties in Micromanipulation The development of an automated and efficient manipulation system is demanded to improve the industrial productivity and release the burden for the human operators. However there are several problems concerning micromanipulation. Scaling Effect When the objects are less than 1mm in size the physics that dominates is completely different 6 . The conventional manipulation can be modelled based on Newtonian mechanics however when the scaling decreases physical phenomena in micro world become substantially different from macro world which make system performance of conventional techniques degrade or even fail. For this reason the physical differences and their effect in micromanipulation systems have to be considered. Many surface forces as van der Waal s electrostatic and surface tension become dominant over gravity in micro scale. Van der Waals forces are caused by quantum mechanical effects. Electrostatic forces are due to charge generation or charge transfer during contact. Surface tension effects arise from interactions of layers adsorbed moisture on the two surfaces. When conducting manipulation in conventional world we can place and pick up object as desired while in micro world the object will stick to the gripper due to the surface forces see Fig. free standing micro structures tends to stick to the substrate after being released during processing. Attempts to reduce the adhesive forces in micro world can be found in 7 8 . Environmental conditions such as temperature and humidity can also influence the adhesion forces and microbiologically properties of micro parts and cause many uncertainties 9 . Besides .