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WO2014144599A1 - Système et procédés pour un montage par bras-transfert basé sur l'électro-adhérence - Google Patents

Système et procédés pour un montage par bras-transfert basé sur l'électro-adhérence Download PDF

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Publication number
WO2014144599A1
WO2014144599A1 PCT/US2014/029076 US2014029076W WO2014144599A1 WO 2014144599 A1 WO2014144599 A1 WO 2014144599A1 US 2014029076 W US2014029076 W US 2014029076W WO 2014144599 A1 WO2014144599 A1 WO 2014144599A1
Authority
WO
WIPO (PCT)
Prior art keywords
objects
electroadhesion
charge
manipulate
electrodes
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2014/029076
Other languages
English (en)
Inventor
Fnu APOORVA
Hod Lipson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cornell University
Original Assignee
Cornell University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cornell University filed Critical Cornell University
Publication of WO2014144599A1 publication Critical patent/WO2014144599A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N13/00—Clutches or holding devices using electrostatic attraction, e.g. using Johnson-Rahbek effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B81—MICROSTRUCTURAL TECHNOLOGY
    • B81C—PROCESSES OR APPARATUS SPECIALLY ADAPTED FOR THE MANUFACTURE OR TREATMENT OF MICROSTRUCTURAL DEVICES OR SYSTEMS
    • B81C99/00—Subject matter not provided for in other groups of this subclass
    • B81C99/0005—Apparatus specially adapted for the manufacture or treatment of microstructural devices or systems, or methods for manufacturing the same
    • B81C99/002—Apparatus for assembling MEMS, e.g. micromanipulators

Definitions

  • the invention relates generally to pick and place system and methods in which objects are picked from one location, transferred to another location, and placed in a precise position. More specifically, the invention relates to system and methods for object manipulation that utilizes electroadhesion in order to easily, carefully, and quickly pick and place objects, including micron sized objects, with precision.
  • Automated manufacturing processes often include a mechanism that picks or selects an object and transfers it from one location to another in order for the object to be placed in a precise position.
  • the invention satisfies this demand.
  • a micron sized object is a very small object, for example, an object with a size around, about, or less than one thousandth of a meter
  • Electroadhesion is a dry adhesion achieved by the virtue of electrostatic force of attraction between electrodes and an adjacent object where the electrostatic force is a result of interaction between the electrodes and the charge it induces on the object. This force is very similar to one observed between the two parallel plates of a charged capacitor.
  • a typical electroadhesion based system can achieve a force as high as 2 N/m 2 such that a special microstructure or wet agent is not needed to achieve adhesion.
  • electroadhesion is its easy and fast switching - manipulating the power supply can instantly switch the adhesion on or off.
  • electroadhesion is a versatile adhesion method independent of the material property of an object.
  • the system comprises a power source component and an assembler component including electrically controlled elements.
  • Electrically controlled elements include at least one pair of electrodes coated with a dielectric element.
  • the dielectric element enhances adhesion force by increasing the net capacitance between each electrode of the pair.
  • the dielectric element prevents any sort of short circuit, for example, when a conducting object is picked and placed such as on a metallic material.
  • Certain embodiments of the invention may also include a switch component to control pairs of electrodes individually or in combination.
  • the electrically controlled elements retain a charged force that is opposite from the charge force retained by the object such that the object can be picked up. Similarly, the electrically controlled elements display a charged force that is the same as the charge force retained by the object such that the object can be placed.
  • the electrically controlled elements may have negatively charged forces to pick up objects retaining positively charged forces.
  • the electrically controlled elements may have positively charged forces to pick up objects retaining negatively charged forces.
  • the electrically controlled elements may have negatively charged forces or positively charged forces to place or drop objects retaining negatively charged forces or positively charged forces, respectively.
  • the object to be manipulated obtains its charge from the electrodes. This is done by inducing a charge by the electrodes opposite in polarity to the object to be picked up. Inducing a charge on the object may be accomplished by maintaining a high voltage by the electrodes received from the power source component. When a high DC voltage is applied to the electrodes, the object nearby is polarized by the electrodes. Again, to pick up the object, it is polarized with a charge opposite from that retained by the electrodes. Inducing a charge by the electrodes to the object also occurs when the system drops or places the object. This is accomplished by turning off the power source component, or backing off the high voltage received from the power source component.
  • objects can be selected and placed with micro scale precision. It is contemplated that the invention may assist three-dimensional (3D) printers as well as be used to pick and place heavy objects. Thus, it is contemplated that the invention may assemble objects of all sizes including micron sized objects.
  • Another advantage of the invention is that assembly of objects including micron sized object can be performed in high-volumes. Furthermore, any size and any shape object may be manipulated to assemble components.
  • Another advantage of the invention is that the system is easier to maintain than existing systems since there are no complicated parts such as vacuums and tool heads.
  • Yet another advantage of the invention is that the system has the ability to control millions of micron sized objects including the ability to control each object independently from another.
  • Yet another advantage of the invention is the low power requirement of the system.
  • double A (AA) batteries are sufficient to operate the system.
  • Yet another advantage of the invention is its adaptability to various applications such as surface mounting applications and digital manufacturing applications.
  • FIG. 1 is a block diagram illustrating the system according to one embodiment of the invention.
  • FIG. 2 illustrates an assembler component according to one embodiment of the invention along with an exemplary object.
  • FIG. 3 illustrates electrically controlled elements of the assembler component according to one embodiment of the invention.
  • FIG. 4 is a diagram illustrating electrostatic actuated force according to one embodiment of the invention.
  • FIG. 1 is a block diagram illustrating the system 50 according to one embodiment of the invention.
  • the system 50 requires low power and is portable.
  • the system 50 includes an assembler component 100 and a power source component 200.
  • the power source component may be a DC-DC low to high voltage converter.
  • the DC-DC low to high voltage converter contemplated requires low power such that AA batteries may be used to operate it.
  • Certain embodiments of the invention may also include a switch component 300, which may be used to control electrodes individually or in combination.
  • the system of the invention includes an assembler component 100 that includes electrically controlled elements in the form of at least one pair of electrodes 115, 116 coated with a dielectric element 120 as shown in FIG. 2.
  • a grid 112 of electrodes 115, 116 is printed on top of a printed circuit board (PCB) 110 by methods known to those skilled in the art of PCB fabrication.
  • a pair of electrodes 115, 116 are positioned at every intersection of the grid 112. Although it is contemplated that electrodes may 115, 116 be positioned in any arrangement including, for example, at every other intersection.
  • Each electrode 115, 116 of the pair are activated to induce charge on an object.
  • the PCB 110 is coated with a dielectric element 120 which serves two fold; it enhances the adhesion force by increasing the net capacitance between the electrodes 115, 116, and prevents any possible short circuit that may result due to picking a conducting object.
  • a Parylene C dielectric coating is vapor deposited on the PCB 110. Specifically, the Parylene C dielectric is deposited in a 3 ⁇ thick layer. Parylene C has a high dielectric strength (6800 Volts/mil), making it suitable for high voltage applications.
  • Each electrode 115, 116 retains a charge and induces an opposite charge on an object 130 in order for the assembler component 100 to pick up the object 130.
  • the electrostatic force between two charges is given by:
  • an object to be picked up must retain a charge opposite in polarity from the electrodes. Similarly, the object must retain a charge the same in polarity from the electrodes in order to be repelled or placed.
  • Electrodes 115, 116 are shown more specifically in FIG. 3.
  • One electrode 115 comes from top side of the PCB 110 through via 1 17 and another electrode 1 16 is in form of a concentric annulus around the via padding 1 18.
  • the circumferential distance between two electrodes is a critical parameter and depends on the voltage output by the power source component, which in return is dependent on the weight of an object to be manipulated.
  • the system picks an object weighing .1 gm and with a voltage in the range of 100s of volt to pick it up. To drop or place the object, the voltage from the power source component is reduced or turned off.
  • FrG. 4 is a diagram illustrating electroadhesion according to one embodiment of the invention. As shown in FIG. 4, electrodes 310 with dielectric element 320 are maintained at a high voltage to induce charge opposite their own polarity at the object 330 nearby, resulting in an electrostatic force of attraction between the electrodes 310 and the object 330.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système basé sur l'électro-adhérence qui facilite un assemblage dans de grandes proportions d'objets, y compris des objets micrométriques. Un composant d'assembleur du système comprend une grille d'élément électriquement contrôlés qui induisent une charge sur l'objet. Le système saisit et place de façon précise des objets, y compris en parallèle. L'invention concerne généralement un système et des procédés pour un montage par bras-transfert selon lesquels des objets sont prélevés dans un endroit, transférés vers un autre endroit et placés en position précise. L'invention concerne plus précisément un système et des procédés de manipulation d'objets utilisant l'électro-adhérence pour prélever et transférer des objets de façon simple, précautionneuse et rapide, y compris des objets micrométriques, avec précision.
PCT/US2014/029076 2013-03-15 2014-03-14 Système et procédés pour un montage par bras-transfert basé sur l'électro-adhérence Ceased WO2014144599A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201361790139P 2013-03-15 2013-03-15
US61/790,139 2013-03-15

Publications (1)

Publication Number Publication Date
WO2014144599A1 true WO2014144599A1 (fr) 2014-09-18

Family

ID=51537739

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2014/029076 Ceased WO2014144599A1 (fr) 2013-03-15 2014-03-14 Système et procédés pour un montage par bras-transfert basé sur l'électro-adhérence

Country Status (1)

Country Link
WO (1) WO2014144599A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109075726A (zh) * 2016-04-13 2018-12-21 通快两合公司 包括分形电极的电粘附夹具

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100149738A1 (en) * 2008-12-17 2010-06-17 Hon Hai Precision Industry Co., Ltd. Printed circuit board assembly
US20100249553A1 (en) * 2009-03-31 2010-09-30 Nellcor Puritan Bennett Llc Electroadhesive Medical Devices
US20100271746A1 (en) * 2006-06-05 2010-10-28 Sri International Electroadhesive devices
US20110193362A1 (en) * 2010-02-10 2011-08-11 Sri International Electroadhesive gripping
WO2012096982A1 (fr) * 2011-01-10 2012-07-19 Sri International Système électro-adhésif pour la capture d'objets

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100271746A1 (en) * 2006-06-05 2010-10-28 Sri International Electroadhesive devices
US20100149738A1 (en) * 2008-12-17 2010-06-17 Hon Hai Precision Industry Co., Ltd. Printed circuit board assembly
US20100249553A1 (en) * 2009-03-31 2010-09-30 Nellcor Puritan Bennett Llc Electroadhesive Medical Devices
US20110193362A1 (en) * 2010-02-10 2011-08-11 Sri International Electroadhesive gripping
WO2012096982A1 (fr) * 2011-01-10 2012-07-19 Sri International Système électro-adhésif pour la capture d'objets

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109075726A (zh) * 2016-04-13 2018-12-21 通快两合公司 包括分形电极的电粘附夹具
US10483878B2 (en) 2016-04-13 2019-11-19 Trumpf Gmbh + Co. Kg Electro-adhesion grippers with fractal electrodes

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