Volume 37 Issue 6
Nov.  2015
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FAN Zenghua, RONG Weibin, WANG Lefeng, SUN Lining. Micromanipulation Method and Experiments of Controllable Capillary ForceBased on Condensation on Hydrophobic Surface[J]. ROBOT, 2015, 37(6): 648-654. DOI: 10.13973/j.cnki.robot.2015.0648
Citation: FAN Zenghua, RONG Weibin, WANG Lefeng, SUN Lining. Micromanipulation Method and Experiments of Controllable Capillary ForceBased on Condensation on Hydrophobic Surface[J]. ROBOT, 2015, 37(6): 648-654. DOI: 10.13973/j.cnki.robot.2015.0648
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Micromanipulation Method and Experiments of Controllable Capillary ForceBased on Condensation on Hydrophobic Surface

  • State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin150001, China

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  • Received Date: May 06, 2015
  • Revised Date: September 08, 2015
  • Available Online: October 26, 2022
  • Published Date: November 19, 2015
    Graphical Abstract
    • Abstract
  • On the basis of the presented micromanipulation method of condensation on hydrophobic surface, the volume of the water droplet on the hydrophobic tip surface can be dynamically varied which helps to obtain appropriate capillary lifting forces using the designed droplet micromanipulator. The single droplet growth model is established to analyze the influence of the minimum radius of droplet, the supercooling degree and the saturation temperature. Accordingly, the operational process of picking up and releasing are discussed by the theoretical models. With the assistance of a customized motion platform, the droplet formation on hydrophobic tip and the capillary lifting force generated during the manipulation process are experimentally characterized. Micromanipulation tasks of pick-and-place the micro silicon chips(1 mm×1 mm×0.52 mm, 12.1μN) and thin-wall microspheres with diameters of 200μm, wall thickness of 4μm(5.069 nN) are conducted to verify the feasibility of the presented method.
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    • References (21)
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