Micro manipulation by adhesion with two collaborating mobile micro robots

A micro manipulation platform consisting of two cubic centimeter sized micro robots each with four degrees of freedom has been developed. This paper discusses four different strategies of manipulation by adhesion for grasping, transferring and releasing a micro object. For each strategy, the interacting forces have been modeled and the results are compared with the real behavior of ø 40 µm pollen micro spheres that are manipulated with the developed micro robots. Both theoretical model and experimental results show that the developed micro robots and the proposed strategies are well suited for the manipulation of the proposed micro objects.