Miniature Robot with Micro Capillary Capturing Probe for Surface Clearing Operation

摘要

In this report, a micro capillary capturing probe based on the surface tension of water is described. This probe is composed of a capillary of glass, small solenoids, and a micro magnetic piston. The quick reciprocating motion of the magnetic piston which is accelerated by solenoids current can push and pull the water in the capillary. At the end of the capillary, the water drop can grow to reach the small object on the surface, contain it with the help of surface tension, and retract into the capillary. The basic principle and design will be discussed, and the experimental results of capturing small objects will be demonstrated. We successfully implement this active probe into our miniature precise robot for surface clearing operation.