FEMTO-ST Institute, CNRS, Univ. Bourgogne Franche-Comté, 24 rue Alain Savary, F-25000 Besançon, France.
Sci Robot. 2022 Aug 24;7(69):eabn4292. doi: 10.1126/scirobotics.abn4292.
Although robotic micromanipulation using microtweezers has been widely explored, the current manipulation throughput hardly exceeds one operation per second. Increasing the manipulation throughput is thus a key factor for the emergence of robotized microassembly industries. This article presents MiGriBot (Millimeter Gripper Robot), a miniaturized parallel robot with a configurable platform and soft joints, designed to perform pick-and-place operations at the microscale. MiGriBot combines in a single robot the benefits of a parallel kinematic architecture with a configurable platform and the use of soft joints at the millimeter scale. The configurable platform of the robot provides an internal degree of freedom that can be used to actuate microtweezers using piezoelectric bending actuators located at the base of the robot, which notably reduces the robot's inertia. The soft joints make it possible to miniaturize the mechanism and to avoid friction. These benefits enable MiGriBot to reach a throughput of 10 pick-and-place cycles per second of micrometer-sized objects, with a precision of 1 micrometer.
虽然使用微镊子的机器人微操作已经得到了广泛的探索，但目前的操作吞吐量几乎不超过每秒一次。因此，提高操作吞吐量是机器人微装配行业出现的关键因素。本文介绍了 MiGriBot（毫米夹爪机器人），这是一种具有可配置平台和软关节的小型化并联机器人，旨在进行微尺度的拾取和放置操作。MiGriBot 将并联运动学结构的优点、可配置平台以及毫米尺度的软关节结合在一个机器人中。机器人的可配置平台提供了一个内部自由度，可以使用位于机器人底部的压电弯曲执行器驱动微镊子，这显著降低了机器人的惯性。软关节使机器人能够微型化，并避免摩擦。这些优势使 MiGriBot 能够达到每秒 10 个微尺寸物体的拾取和放置循环，精度为 1 微米。
