Micromanipulators

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Micromanipulators

Prototype by Julien Lacheray

Gripping operation (1.5 MByte video (https://vision.eng.shu.ac.uk/jan/MagneticActuation1.avi))
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Gripping operation (1.5 MByte video (https://vision.eng.shu.ac.uk/jan/MagneticActuation1.avi))
Coils and magnets (856 kByte video (https://vision.eng.shu.ac.uk/jan/MagneticActuation2.avi))
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Coils and magnets (856 kByte video (https://vision.eng.shu.ac.uk/jan/MagneticActuation2.avi))

In the absence of piezo-actuators (the order was delayed), an alternative actuation method was used for the prototype gripper. An extensive literature survey was done.

Piezo gripper by Julien Demarest

Frontal view of gripper
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Frontal view of gripper
Side view of gripper
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Side view of gripper
Powersource for piezos
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Powersource for piezos
Gripper in open state (1.8MByte video (https://vision.eng.shu.ac.uk/jan/demarest_gripper.avi))
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Gripper in open state (1.8MByte video (https://vision.eng.shu.ac.uk/jan/demarest_gripper.avi))
Gripper in closed state
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Gripper in closed state
Picking up ground coffee (6.1MByte video (https://vision.eng.shu.ac.uk/jan/demarest_manipulation.avi))
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Picking up ground coffee (6.1MByte video (https://vision.eng.shu.ac.uk/jan/demarest_manipulation.avi))

Thanks to John Stanley (rapid prototyping (https://en.wikipedia.org/wiki/Rapid_prototyping)) and Ralph Gay (micro-parts) for helping.

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