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Department of Engineering, ICT and Technologies for Energy and Transport Patent Title Device and method for the manŝƉƵůĂƟon of components based on vacuum principle. Ref. CNR 10252 Assignee(s): CNR CNR InƐƟƚute: ITIA Main Inventor: Serena Ruggieri Countries: IT, PCT Priority date: 26/03/2013 Abstract The manipulĂƟŽn of millimetric and sub-millimetric components presents several issues, ŽŌĞŶ negligible at the macro-scale. Indeed, at the micro-scale, the high surface-to-volume ƌĂƟo leads to the predominance of the superficial forces (e.g. ĞůĞĐƚƌŽƐƚĂƟĐ, van der Waals and capillary forces) over the graviƚĂƟonal force, therefore the manipulĂƟon of micro-parts is very challenging. In pĂƌƟcular, the release is a ĐƌŝƟĐĂů phase of the manŝƉƵůĂƟon. Components ŽŌĞŶ sƟĐŬ to the gripper and, since the graviƚĂƟonal force does not overcome the adhesion, their release becomes uncertain and unreliable. In this context, an innovĂƟve vacuum micro-gripping method and device able to cope with the micro-part release issues was conceived. The device is eīeĐƟǀĞ͕ simple, low-cost, low-weight and easy to use and integrate in a manŝƉƵůĂƟŽn system. It allows to manipulate micro-parts of ĚŝīĞƌĞŶt shape and material. Background Vacuum grippers are simple, cheap and allow the manipulĂƟŽn of a large variety of components as long as their surface is smooth and not porous. However, the release can be an issue since, due to the sƵƉĞƌĮĐŝĂů forces, the components oŌen sƟck to the gripper. This reduce their possible range of applicaƟons. Many soůƵƟŽŶƐ have been implemented so far to improve the release phase, such as the use of a soŌ blow or addiƟonal tools, but their drawbacks make them unsuitable in several appliĐĂƟons. Technology This new vacuum manipulĂƟon device uses the same actuĂƟng system (vacuum pump) for grasping the parts and controlling an innovĂƟve mechanical system to assist the release. The mechanical system is inside the gripper body and can move between two main posiƟons, one of which allows the grasping of the component by vacuum and the other forces and improves its release as soon as the pump is turned Žī͘ Advantages and ApplicaƟons The device allows the precise, reliable and safe manipulĂƟŽn of micro-parts, avoiding any considerable increase in weight nor excessive compliĐĂƟon of the system. The device can be easily mounted on a robot or integrated in a manual or tele-operated manŝƉƵůĂƟŽn system. Its appliĐĂƟons spread in several sectors including electronics, auƚŽŵŽƟǀĞ, micro-mechanics, packaging, telecommƵŶŝĐĂƟŽŶ, medical and biomedical. Development stage A prototype has been fabricated and is currently used in the Laboratory of Micro-roboƟĐƐ at ITIA-CNR. Several experimental tests proved its ability to grasp and release micro-components of diīerent shape and dimension. The prototype has shown very good potenƟĂůŝƟĞƐ in terms of reliability, precision and ease of ŝŶƚĞŐƌĂƟŽn. 79