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液滴微操作机械手由1根毛细微管和环绕在其周围的6根钨丝微棒组成,注入到毛细微管内的液体,在机械手末端形成液滴.基于液滴的表面张力吸取微小物体,通过控制液桥的形态改变液桥力,可以实现对微小物体姿态变换和释放等操作.建立液滴微操作机械手工作过程的力学模型,详细讨论了液滴微操作机械手对微小物体进行拾取、姿态调整、释放的方法和物理过程,分析了微操作过程中各种微力的作用机理、作用方式、作用条件以及影响液滴微操作机械手性能的因素;并通过实验验证了分析方法的正确性.
Droplet micromanipulator consists of a capillary microtubule and six tungsten micro-rods surrounding it, the liquid injected into the capillary microtubule to form a droplet at the end of the robot, and the tiny object is drawn on the basis of the surface tension of the droplet and passes through The liquid bridge can be manipulated by changing the liquid bridge force of the liquid bridge to change the posture of small objects and to release them.The mechanical model of droplet micromanipulator manipulating process is established, , The method of releasing and the physical process, the mechanism of action, mode of action, action conditions and the factors that affect the performance of micromanipulator manipulator are analyzed. The correctness of the analytical method is verified by experiments.