Algorithm for parallel microparts manipulation with electrostatic fields

George Sarantoglou, Georgia Kritikou, Nikolaos Aspragathos, Anthony Tzes

Abstract: A microparts manipulation application is presented. A PCB platform and plastic microparts with rectangular embedded conductive electrodes are designed. The electrostatic forces applied by the platform electrodes are calculated with F.E.M. analysis and the dynamic model of the microparts motion is used for the simulation of the motion. The proposed activation algorithms of the platform electrodes are described in detail. Moreover, the parallel motion of two microparts is implemented, based on a path planning algorithm which is introduced for collision avoidance between the couple of microparts and with the obstacles combined with the mode of activation. The results of the proposed approach are presented and discussed.