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Journal articles on the topic 'Micro-gripper'

Author: Grafiati

Published: 4 June 2021

Last updated: 30 January 2023

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1

Qiu, Lei, Yu Guo Cui, and Feng Yi Feng. "Design of a New Micro-Gripper Based on Piezoelectric Bimorphs." Applied Mechanics and Materials 101-102 (September 2011): 173–77. http://dx.doi.org/10.4028/www.scientific.net/amm.101-102.173.

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Considering assembly and disassembly of micro-gripper, connection and isolation of lead, a new micro-gripper based on piezoelectric bimorphs is designed by using finite element analysis. First, a detailed structure of the micro-gripper is designed based on piezoelectric bimorph cantilevered beams. Second, static and dynamic characteristics of the micro-gripper are analyzed by piezoelectric coupling field analysis technique of ANSYS. For the static performance, there is a linear relationship between displacement and driving voltage of the micro-gripper. The maximum displacement of the micro-gri

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2

Long, Zhi Li, Lu Fan Zhang, and Jian Guo Zhang. "FEM Design and Experiment of a Micro-Gripper Based on Piezoelectric Material." Advanced Materials Research 479-481 (February 2012): 434–38. http://dx.doi.org/10.4028/www.scientific.net/amr.479-481.434.

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Micro-gripper is a key module in IC/LED wire bonding. The paper presents a micro-gripper combining with piezoelectric material and flexible structure. The dynamic and static characteristics of the micro-gripper are calculated by finite element method, and the natural frequencies, the vibration modes, as well as the deflection range of the micro-gripper are obtained. In the experiment, the high-speed camera was used to track the vibration of the micro-gripper, and the relationship between deflection range and driven voltage was established. The vibration behavior was measured by a non-contact l

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3

Zhang, Zheng Tao, Hai Peng Li, and De Xu. "Design and Application of a Kind of Micro-Gripper with Pneumatic Control System." Advanced Materials Research 945-949 (June 2014): 1561–64. http://dx.doi.org/10.4028/www.scientific.net/amr.945-949.1561.

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In this paper, a kind of micro-gripper is introduced using vacuum adsorption method. The gripper is used to grasp a mm size micro-part in a micro-assembly process. Because of the requirement of the adsorption force, the negative pressure control system is employed which can let the micro-gripper inhale and exhale freely. Accordingly, the adsorption force of the micro-gripper can be controlled accurately. The PLC controller is used to get the pressure information from the electronic proportional valve. The PID control law is employed to adjust the opening of the valve. In this way, the micro-gr

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4

Wang, Yuezong, Jiqiang Chen, and Daoduo Qu. "Design, Analysis and Experimental Investigations of a Double-Arm Based Micro-Gripper for Thin and Flexible Metal Wires Manipulation." Micromachines 13, no. 6 (2022): 925. http://dx.doi.org/10.3390/mi13060925.

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A robotic system for the automatic wire pulling of coreless motor winding is designed, including the design of an opening-closing control system and a micro-gripper’s tip structure with a double-armed elastic-beam structure for the support part and an enveloping clamping structure for the tip part. The micro-gripper captures the electrode wire from the root, encircles the wire after the envelope region is closed, and the thin and flexible electrode wire is pulled to the top of the electrode pad by the movement of the micro-gripper and released. The mechanical index of the micro-gripper is simu

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5

Zhang, Juan, Wenrong Wu, and Lie Bi. "An automatic approach and grip method of micro-particle in 3D space." International Journal of Modern Physics B 31, no. 07 (2017): 1741013. http://dx.doi.org/10.1142/s0217979217410132.

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Micro-particle is hard to be observed as small scale and hard to be gripped as micro-force from substrate, an automatic approach and grip method of micro-particle in the guide of microscopic vision systems is proposed in the paper to grip micro-particle. First, the micro-gripper driven by electrostatic force is introduced and forces in gripping process are analyzed. Second, a micro-assembly robot composed of two microscopic vision systems is established to monitor micro-operation process and to operate micro-particle. Image features of micro-particle and micro-gripper end-effector are extracte

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6

Hui, Xusheng, Jianjun Luo, Xinliang Wang, Rong Wang, and Hao Sun. "Bimorph electrothermal micro-gripper with large deformation, precise and rapid response, and low operating voltage." Applied Physics Letters 121, no. 2 (2022): 023502. http://dx.doi.org/10.1063/5.0100920.

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Micro-grippers are highly desired in engineering, robotics, and biomedicine. However, on the basis of satisfying the requirements of miniaturization, precise manipulation, and low power consumption, the existing micro-grippers are difficult to achieve rapid response simultaneously. In this paper, we present a bimorph electrothermal micro-gripper that composed of several metal ultrathin films with high surface-to-volume ratios, allowing rapid heating and cooling processes. Patterns of these films are exquisitely designed so that the micro-gripper naturally forms an embedded circuit to optimize

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7

CUI Yu-guo, 崔玉国, 郑军辉 ZHENG Jun-hui, 马剑强 MA Jian-qiang, and 蔡成波 CAI Cheng-bo. "Self-sensing piezoelectric micro-gripper." Optics and Precision Engineering 23, no. 7 (2015): 1996–2004. http://dx.doi.org/10.3788/ope.20152307.1996.

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8

Knulst, A. J., K. Maaijwee, J. C. van Meurs, P. A. Wieringa, P. Breedveld, and S. Schutte. "Micro-scale thermal tissue gripper." Minimally Invasive Therapy & Allied Technologies 18, no. 1 (2009): 8–14. http://dx.doi.org/10.1080/13645700802393735.

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9

Bharadwaj, Kishor K. S., Sudesh V. Rokade, G. B. S. V. Yaswanth, et al. "A novel device to micromanipulate oocytes during intracytoplasmic sperm injection." Journal of Reproductive Healthcare and Medicine 3 (August 18, 2022): 6. http://dx.doi.org/10.25259/jrhm_4_2022.

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Objectives: To demonstrate a novel, non-pneumatic, compliant mechanism-based micro gripper to immobilize oocytes for the Intracytoplasmic sperm injection (ICSI). Material and Methods: The micro gripper is designed intuitively based on different techniques available to design compliant mechanisms in the literature such as the Stiffness Maps technique, Kinetoelastostatic maps, and feasibility maps techniques. The gripper’s holder was made from a 2mm thick PMMA sheet; whereas, the gripper was fabricated using a hydrophilic sheet, a proprietary material of 3MTM. The gripper and holder were assembl

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10

Lofroth, Matthew, and Ebubekir Avci. "Development of a Novel Modular Compliant Gripper for Manipulation of Micro Objects." Micromachines 10, no. 5 (2019): 313. http://dx.doi.org/10.3390/mi10050313.

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This paper proposes a modular gripping mechanism for the manipulation of multiple objects. The proposed micro gripper combines traditional machining techniques with MEMS technologies to produce a modular mechanism consisting of a sturdy, compliant aluminium base and replaceable end-effectors. This creates an easily-customisable solution for micro manipulation with an array of different micro tips for different applications. We have provided the kinematic analysis for the gripper to predict the output and have also optimised design parameters based on FEA (finite element analysis) simulation an

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11

Volland, B. E., K. Ivanova, Tzv Ivanov, et al. "Duo-action electro thermal micro gripper." Microelectronic Engineering 84, no. 5-8 (2007): 1329–32. http://dx.doi.org/10.1016/j.mee.2007.01.177.

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12

Ma, Li, Ci Xiong Xu, Sha Sha Zhou, Wei Bin Rong, and Li Ning Sun. "Flexure Hinge Guided Motion Gripper with Force Sensor." Applied Mechanics and Materials 121-126 (October 2011): 3299–303. http://dx.doi.org/10.4028/www.scientific.net/amm.121-126.3299.

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A piezoelectric gripper with force sensor is presented for an optical precision manipulation. The gripper utilizes flexure hinge mechanisms with two-step amplification to achieve output displacement. Micro displacement amplification principle of the gripper is analyzed and verified using finite element analysis (FEA) soft. A force sensor of resistance strain type with elastic plate structure of bi-cantilever is designed, which is fixed at the bottom of the gripper to detect force signals during the working process. The strain foils adopt a connecting method of full-bridge. According to theoret

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13

Liu, Li Qun, Yang Chen, Ya Shen Zhao, Chao Qun Xiang, Li Na Hao, and Zhou Li Zhao. "The Realization of Actuating and Sensing Integrated Gripper System." Advanced Materials Research 898 (February 2014): 696–700. http://dx.doi.org/10.4028/www.scientific.net/amr.898.696.

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Most of traditional manipulator does not meet experimental requirements of micromanipulation for its large structure and complicated driven mode. Comparatively speaking, using actuating and sensing performance of IPMC gripper can well be applied to specific micro operations and mechanical testing environment. This paper designs one kind of IPMC gripper of actuating and sensing performance based on micro operation and micro assembly, which is applied to grab the cells and fix under a microscope.

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14

Tanaka, Yutaka, Ryuta Suzuki, Kazuya Edamura, and Shinichi Yokota. "Design and Fabrication of Micro Gripper Using Functional Fluid Power." International Journal of Automation Technology 16, no. 4 (2022): 448–55. http://dx.doi.org/10.20965/ijat.2022.p0448.

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Gripping and holding mechanism of automated systems in manufacturing and distribution industries are required to flexibly accommodate various product shapes. In recent years, the gripping and holding mechanisms using jamming transition have been attracting attention because they can grasp objects of various shapes. The jamming gripping mechanism generally requires a mechanical vacuum pump to adjust the internal pressure of the gripping part, and it is difficult to miniaturize the system. An electro-conjugate fluid (ECF), a type of functional fluid, can generate a strong jet flow by applying a

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15

Chalhoub, Nabil G., and Xiaoying Zhang. "Reduction of the End Effector Sensitivity to the Structural Deflections of a Single Flexible Link: Theoretical and Experimental Results." Journal of Dynamic Systems, Measurement, and Control 115, no. 4 (1993): 658–66. http://dx.doi.org/10.1115/1.2899193.

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The fine positioning problem of the gripper of flexible robotic manipulators is addressed in this study. A two-axis cartesian micro-manipulator is implemented to reduce the sensitivity of the gripper to the structural deformations of a single flexible link. A laser head with a dual axis photodetector are used to provide direct measurements of the transverse deflections at the free-end of the beam and to detect mechanical inaccuracies caused by manufacturing imperfections and assembly misalignment. The advantages of the integrated system of the micro-manipulator with a single compliant beam are

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16

Jain, Ravi Kant, Somajyoti Majumder, Bhaskar Ghosh, and Surajit Saha. "Micro manipulation by a compliant piezoelectric micro gripper towards robotic micro assembly." International Journal of Mechatronics and Manufacturing Systems 9, no. 1 (2016): 3. http://dx.doi.org/10.1504/ijmms.2016.075402.

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17

Young-bong Bang, Kyung-min Lee, J. Kook, Wonseok Lee, and In-su Kim. "Micro parts assembly system with micro gripper and RCC unit." IEEE Transactions on Robotics 21, no. 3 (2005): 465–70. http://dx.doi.org/10.1109/tro.2004.838028.

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18

Noveanu, Simona, Călin Rusu, and Dan Mândru. "Design and Simulation the Manipulator SI2M Used in Microfactories." Applied Mechanics and Materials 762 (May 2015): 27–32. http://dx.doi.org/10.4028/www.scientific.net/amm.762.27.

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In the precision engineering field, a large number of applications require precise and micro-level manipulation. In the last decade the demand of micro products and miniaturization has seen a wide spread growth. The microfactories concept was first developed in In the precision engineering field, a large number of applications require precise and micro-level manipulation. In the last decade the demand of micro products and miniaturization has seen a wide spread growth. The microfactories concept was first developed in the late twentieth century in Japan. With the development of the microfactor

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19

Takahashi, Tomokazu, Satoshi Kikuchi, Masato Suzuki, and Seiji Aoyagi. "Octopus-bioinspired Vacuum Gripper with Micro Bumps." Journal of the Robotics Society of Japan 35, no. 1 (2017): 62–69. http://dx.doi.org/10.7210/jrsj.35.62.

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20

Enikov, Eniko, and Kalin Lazarov. "An optically transparent gripper for micro-assembly." Journal of Micromechatronics 2, no. 2 (2002): 121–40. http://dx.doi.org/10.1163/156856302322756469.

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21

Walker, Robert, Ian Gralinski, Kok Keong Lay, Tuncay Alan, and Adrian Neild. "Particle manipulation using an ultrasonic micro-gripper." Applied Physics Letters 101, no. 16 (2012): 163504. http://dx.doi.org/10.1063/1.4759127.

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22

Bos, E. J. C., J. E. Bullema, F. L. M. Delbressine, P. H. J. Schellekens, and A. Dietzel. "A lightweight suction gripper for micro assembly." Precision Engineering 32, no. 2 (2008): 100–105. http://dx.doi.org/10.1016/j.precisioneng.2007.05.003.

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23

Hoxhold, B., and S. Büttgenbach. "Easily manageable, electrothermally actuated silicon micro gripper." Microsystem Technologies 16, no. 8-9 (2010): 1609–17. http://dx.doi.org/10.1007/s00542-010-1040-x.

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24

Wang, Xiao Dong, Lin Wang, Xi Wen Zhang, Yi Luo, and Li Ping Liu. "Micro-Stress Assembly of Fragile Miniature Parts." Key Engineering Materials 483 (June 2011): 668–73. http://dx.doi.org/10.4028/www.scientific.net/kem.483.668.

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Since miniature parts have the characteristics of small sizes, low strength and rigidity, and they are easily to be damaged during the process of assembly, a concept for micro-stress assembly was proposed. In order to achieve micro-stress assembly, an automatic assembly system based on machine vision and force feedback was developed. Finite element method was used to analyze the influencing factors causing assembly stress. In order to handle various kinds of parts, a new type of combined gripper was developed, furthermore, the gripper integrated with force feedback and a compliant structure ca

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25

Sun, Yuan, Zhi Jing Zhang, Xin Ye, Xiao Feng Zhang, and Yan Feng. "An Integrated Micro-Gripping System for the Assembly of Miniature Mechanical Structures." Advanced Materials Research 317-319 (August 2011): 750–56. http://dx.doi.org/10.4028/www.scientific.net/amr.317-319.750.

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The current developed micro-grippers are not effectively used in micro-assembly within the scale of 0.01-10mm due to some practical problems. In this paper, we present a novel integrated micro-gripping system. In this system, the vac-sorb gripper and the micro-gripper based on a linear motion stage are employed together to stably pick up miniature mechanical structures in different shapes and dimensions. The gripping force is detected in real time and used as a feedback to control the action of the system. The design of the system and the implementation of the feedback mechanism are described

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26

Aggogeri, Francesco, Andrea Avanzini, Alberto Borboni, and Stefano Pandini. "A Robot Gripper in Polymeric Material for Solid Micro-Meso Parts." International Journal of Automation Technology 11, no. 2 (2017): 311–21. http://dx.doi.org/10.20965/ijat.2017.p0311.

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This paper proposes a robot gripper in polymeric material for solid micro-meso parts. The gripper is developed using a light-weight, highly deformable and low cost material, that allows elastic deformations. The proposed solution consists of a simple geometry, incorporating the complexity of the mechanical transmission in the non-linear high deformations of the flexible elements of the device. This choice permits to grip multi-sizes objects. The design approach focuses on Ludwick material model, that describes deformable materials with a nonlinear elastic behavior. The kinematics of the grippe

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27

Pimpin, Alongkorn, Thanapon Anuchitworawong, Nirun Jandabao, Samach Saengchote, Chanat Ratanasumawong, and Werayut Srituravanich. "Design, Fabrication and Evaluation of a Novel Electro Thermal Micro-Gripper for Handling of Head Gimbal Assembly." Applied Mechanics and Materials 619 (August 2014): 156–61. http://dx.doi.org/10.4028/www.scientific.net/amm.619.156.

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A development of a novel electro thermal micro-gripper for handling of Head Gimbal Assembly (HGA) is an ultimate goal of this study. The scope of this study covers a design, fabrication and performance evaluation of the electro thermal micro-gripper. ANSYS software was used to examine the magnitude of tip displacement, exerting force and induced stress to investigate the mechanism’s viability for handling of HGA. Electroplating of nickel was employed to construct the micro-gripper’s mechanisms with three different sizes, and their displacement and exerting force were then examined. From the ex

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28

CUI, Yuguo. "Design of a 4-DOF Piezoelectric Micro-gripper." Journal of Mechanical Engineering 53, no. 23 (2017): 165. http://dx.doi.org/10.3901/jme.2017.23.165.

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29

Millet, Olivier, Paul Bernardoni, Stéphane Régnier, et al. "Electrostatic actuated micro gripper using an amplification mechanism." Sensors and Actuators A: Physical 114, no. 2-3 (2004): 371–78. http://dx.doi.org/10.1016/j.sna.2003.11.004.

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30

Jain, R. K., S. Datta, S. Majumder, and A. Dutta. "Two IPMC Fingers Based Micro Gripper for Handling." International Journal of Advanced Robotic Systems 8, no. 1 (2011): 13. http://dx.doi.org/10.5772/10523.

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31

KAI, Toshiaki, Shuichi WAKIMOTO, Yohta YAMAMOTO, Koichi SUZUMORI, Toshiyuki KANEKO, and Gentaro IRIBE. "1107 Fluidic Micro gripper for grasping a cardiomyocyte." Proceedings of the Machine Design and Tribology Division meeting in JSME 2014.14 (2014): 33–34. http://dx.doi.org/10.1299/jsmemdt.2014.14.33.

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32

El-Sayed, Amr, Ahmed Abo-Ismail, Moumen El-Melegy, Nur Hamzaid, and Noor Osman. "Development of a Micro-Gripper Using Piezoelectric Bimorphs." Sensors 13, no. 5 (2013): 5826–40. http://dx.doi.org/10.3390/s130505826.

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33

Hao and Zhu. "Design of a Monolithic Double-Slider Based Compliant Gripper with Large Displacement and Anti-Buckling Ability." Micromachines 10, no. 10 (2019): 665. http://dx.doi.org/10.3390/mi10100665.

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In a micro-manipulation system, the compliant gripper is used for gripping, handling and assembling of objects. Large displacement and anti-buckling characteristics are desired in the design of the gripper. In this paper, a compliant gripper with these two characteristics is proposed, modelled and verified. The large displacement is enabled by using distributed compliance in a double-slider kinematic mechanism. An inverted flexure arrangement enables the anti-buckling of the gripper when closing the two jaws. A pseudo-rigid-body model (PRBM) method with the help of virtual work principle is em

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34

Valchev, Galin, Daniel Dantchev, and Kostadin Kostadinov. "On the Forces Between Micro and Nano Objects and a Gripper." International Journal of Intelligent Mechatronics and Robotics 2, no. 2 (2012): 15–33. http://dx.doi.org/10.4018/ijimr.2012040102.

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The authors study the van der Waals force, between the gripper jaw and an object – cubical, spherical and conical in shape, situated at a distance L of closest approach from it. The generic and most general case is considered, when the materials of the working jaw of the gripper and the particle are made of different materials strongly preferring the liquid phase of the fluid being at temperature T and chemical potentialm. The contributions due to the standard van der Waals, as well as of the retarded (Casimir) van der Waals interactions are considered. They concluded that strongly depends on

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35

IKUTA, Koji. "Miniature gripper and micro actuator using shape memory alloy." Journal of the Robotics Society of Japan 8, no. 4 (1990): 489–91. http://dx.doi.org/10.7210/jrsj.8.4_489.

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36

Zhang, Dapeng, Zhengtao Zhang, Qun Gao, De Xu, and Song Liu. "Development of a monolithic compliant SPCA-driven micro-gripper." Mechatronics 25 (February 2015): 37–43. http://dx.doi.org/10.1016/j.mechatronics.2014.11.006.

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37

Kochan, Anna. "European project develops “ice” gripper for micro‐sized components." Assembly Automation 17, no. 2 (1997): 114–15. http://dx.doi.org/10.1108/01445159710171310.

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38

XING, Qingsong, and Youhua GE. "Parametric study of a novel asymmetric micro-gripper mechanism." Journal of Advanced Mechanical Design, Systems, and Manufacturing 9, no. 5 (2015): JAMDSM0075. http://dx.doi.org/10.1299/jamdsm.2015jamdsm0075.

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39

Jain, Ravi Kant, Somajyoti Majumder, and Bhaskar Ghosh. "Design and analysis of piezoelectric actuator for micro gripper." International Journal of Mechanics and Materials in Design 11, no. 3 (2014): 253–76. http://dx.doi.org/10.1007/s10999-014-9264-z.

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40

Fantoni, Gualtiero, Hans Nørgaard Hansen, and Marco Santochi. "A new capillary gripper for mini and micro parts." CIRP Annals 62, no. 1 (2013): 17–20. http://dx.doi.org/10.1016/j.cirp.2013.03.005.

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41

Kim, Bong-Seok, Joon-Shik Park, Byoung Hun Kang, and Chanwoo Moon. "Fabrication and property analysis of a MEMS micro-gripper for robotic micro-manipulation." Robotics and Computer-Integrated Manufacturing 28, no. 1 (2012): 50–56. http://dx.doi.org/10.1016/j.rcim.2011.06.005.

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42

Feng, Feng Yi, Yu Guo Cui, Fei Xue, and Liang En Wu. "Design of a New Piezo-Electric Micro-Gripper Based on Flexible Magnifying Mechanism." Applied Mechanics and Materials 201-202 (October 2012): 907–11. http://dx.doi.org/10.4028/www.scientific.net/amm.201-202.907.

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Based on the requirements of that the finger can move in parallel, and the displacement of the finger can be detected, the micro-gripper driven by piezoelectric actuator is designed based on the displacement amplification structure with the flexure hinge. The static analysis, the modal analysis, the harmonic response analysis and the transient response analysis of the micro-gripper are carried out by using the finite element analysis software ANSYS. The results of the finite element analysis show that the finger is fully able to move in parallel, and can detect the displacement of the finger;

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43

Liu, T. J., and Q. Y. Liu. "The Design of Micromanipulator Based on Piezo Actuator." Key Engineering Materials 426-427 (January 2010): 529–31. http://dx.doi.org/10.4028/www.scientific.net/kem.426-427.529.

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In this paper, we describe a mcromanipulate mechanism used the converse piezoelectric effects, The micro-step mechanism based on converse piezoelectric effects is designed. Alternative signals programming from the computer is driving the piezo actuator by means of a dynamic power. The micro step motion of the the micro-step mechanism is realized used the electrostrictive effect and alternative clamping the guide staff, the position of Micro-step Mechanism is precise controlled.Micro gripper that actuated by piezoelectric cantilever was developed for the need of micro parts assembly.

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44

Iazzolino, Antonio, Youness Tourtit, Adam Chafaï, Tristan Gilet, Pierre Lambert, and Loïc Tadrist. "Pick up and release of micro-objects: a motion-free method to change the conformity of a capillary contact." Soft Matter 16, no. 3 (2020): 754–63. http://dx.doi.org/10.1039/c9sm02093d.

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We propose a new 3D-printed capillary gripper equipped with a textured surface for motion-free release of micro-objects. The release process can be controlled by IR laser. We also discuss the minimal conditions for release.

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45

SUZUKI, Ryuta, Yutaka TANAKA, Edamura KAZUYA, and Shinichi YOKOTA. "Design and Fabrication of Micro Gripper using Electro-conjugate Fluid." Proceedings of Mechanical Engineering Congress, Japan 2020 (2020): J11113. http://dx.doi.org/10.1299/jsmemecj.2020.j11113.

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46

TANAKA, Yutaka, Ryuta SUZUKI, Kazuya EDAMURA, and Shinichi YOKOTA. "Design and Fabrication of Micro Gripper using Functional Fluid Power." Proceedings of Mechanical Engineering Congress, Japan 2021 (2021): S117–02. http://dx.doi.org/10.1299/jsmemecj.2021.s117-02.

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47

Pevec, Simon, and Denis Donlagic. "Optically controlled fiber-optic micro-gripper for sub-millimeter objects." Optics Letters 44, no. 9 (2019): 2177. http://dx.doi.org/10.1364/ol.44.002177.

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48

NISHIMURA, Toshihiro, Yoshinori FUJIHIRA, and Tetsuyou WATANABE. "Evaluation of Grasping by the Fluid Fingertip Having Micro-Gripper." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2016 (2016): 2P1–03b7. http://dx.doi.org/10.1299/jsmermd.2016.2p1-03b7.

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49

Park, J., and W. Moon. "A hybrid-type micro-gripper with an integrated force sensor." Microsystem Technologies 9, no. 8 (2003): 511–19. http://dx.doi.org/10.1007/s00542-002-0267-6.

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50

Chafaï, Adam, Amin Ibrahimi, and Pierre Lambert. "A Volume-Tuning Capillary Gripper That Enhances Handling Capabilities and Enables Testing of Micro-Components." Micromachines 13, no. 8 (2022): 1323. http://dx.doi.org/10.3390/mi13081323.

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Capillary forces are shown to be extremely effective for micro-assembly and pick-and-place processes, especially for their ability to self-align the handled objects. However, in today’s machines, micro-objects are submitted to high loads, such as compressions for the electrical testing of the micro-components, or inertial forces coming from the high accelerations of the machines. There, capillary grippers may show some limits. These issues, as well as the difficulty to perform precise visual inspections (due to the tilt of the handled micro-object that can occur after a perturbation, such as t

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