The Development And Application Research Of Micromanipulator Based On Liquid-drop

With the development of micro-electromechanical system, mechanical and electrical products trend to micromation. How to control the orientation of micro components and assembly them are the focus and difficulty in academia. The methods of micro-manipulation include the method based on micro clamp, vac-sorb method, method based on adhesion force. These methods are often used to pick up and release small components, but they couldn’t adjust the orientation of micro components. In this paper, a micro-operation method based on liquid-drop is proposed. The micro components can be adsorbed by the liquid-drop with surface tension. By adjusting the shape of the end of manipulator, the shape of the liquid-drop can be changed, so the orientation of micro components adsorbed by the liquid drop can be changed too. This method realizes the control of the orientation of micro components, which provides a technological approach to deal with the problems in the assembly and orientation adjustment of micro components.In this paper, the structure of manipulator was proposed then the control mechanism of manipulator and the factors affecting the control performance of the manipulator is analyzed qualitatively. After the mechanical model of liquid-drop manipulator was established, the mapping relationship between the orientation of manipulator and orientation of the target was analyzed quantificationally. The method of orientation control based on the droplet morphology and the manipulator tip constraints was proposed. The control strategy of adsorption, rotation, tilt, release of the target were studied too. After that, a hydrodynamic model of the liquid-drop manipulator was established. The qualitative simulation of the control mechanism is carried out by the fluid simulation software. The changes of liquid bridge shape and the change of pressure was analyzed by simulation. Finally, the experimental platform was set up to do large of experiment research, which verified the reliability of the method proposed in this paper.These results of the research show that: these mechanism analysis are basically consistent with the simulation results and the experimental phenomena. The surface quality of target absorbed by the micro-manipulator with multi rod are not strict. After establishing the mapping relation between manipulator and the orientation of target objects, the control of the position and orientation of the target objects with arbitrary shape can be realized by controlling the droplet morphology and the manipulator tip constraints. The control performance of the manipulator can be changed when the surface tension of the fluid or the number of rob are changed. The research provides an effective approach for the multi degree freedom adjustment, the pickup and the release of micro components in small space.