Although robotic micromanipulation using microtweezers has been widely explored, the current manipulation throughput hardly exceeds one operation per second. Increasing the manipulation throughput is thus a key factor for the emergence of robotized microassembly industries. This article presents MiGriBot (Millimeter Gripper Robot), a miniaturized parallel robot with a configurable platform and soft joints, designed to perform pick-and-place operations at the microscale. MiGriBot combines in a single robot the benefits of a parallel kinematic architecture with a configurable platform and the use of soft joints at the millimeter scale. The configurable platform of the robot provides an internal degree of freedom that can be used to actuate microtweezers using piezoelectric bending actuators located at the base of the robot, which notably reduces the robot’s inertia. The soft joints make it possible to miniaturize the mechanism and to avoid friction. These benefits enable MiGriBot to reach a throughput of 10 pick-and-place cycles per second of micrometer-sized objects, with a precision of 1 micrometer.

中文翻译：

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MiGriBot：具有集成抓取功能的微型并联机器人，用于高通量显微操作

尽管使用微镊子的机器人显微操作已被广泛探索，但目前的操作吞吐量几乎不超过每秒一次操作。因此，提高操作吞吐量是机器人微组装行业出现的关键因素。本文介绍 MiGriBot（毫米夹持机器人），一种具有可配置平台和软关节的小型并联机器人，旨在执行微尺度的拾取和放置操作。MiGriBot 将并行运动架构的优点与可配置平台和毫米级软关节的使用结合在一个机器人中。机器人的可配置平台提供了一个内部自由度，可用于使用位于机器人底部的压电弯曲致动器来致动微镊子，这显着降低了机器人的惯性。软接头可以使机构小型化并避免摩擦。这些优势使 MiGriBot 能够以 1 微米的精度达到每秒 10 个微米大小物体的拾取和放置周期的吞吐量。