Polymer microgripper with autofocusing and visual tracking operations to grip particle moving in liquid

Ren-Jung Chang, Yu Cheng Chien

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

A visual-servo automatic micromanipulating system was developed and tested for gripping the moving microparticle suspended in liquid well. An innovative design of microgripper integrated with flexible arms was utilized to constrain particles in a moving work space. A novel focus function by non-normalized wavelet entropy was proposed and utilized to estimate the depth for the alignment of microgripper tips and moving particle in the same focus plane. An enhanced tracking algorithm, which is based on Polar Coordinate System Similarity, incorporated with template matching, edge detection method, and circular Hough Transform, was implemented. Experimental tests of the manipulation processes from moving gripper to tracking, gripping, transporting, and releasing 30-50 μm Polystyrene particle in 25 °C water were carried out.

Original languageEnglish
Article number27
JournalActuators
Volume7
Issue number2
DOIs
Publication statusPublished - 2018 Jun 1

Fingerprint

Auto-focusing
Visual Tracking
Template matching
Grippers
Hough transforms
Edge detection
Polystyrenes
Entropy
Polymers
Liquid
Liquids
Water
Hough Transform
Template Matching
Polar coordinates
Workspace
Edge Detection
Manipulation
Alignment
Wavelets

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Control and Optimization

Cite this

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title = "Polymer microgripper with autofocusing and visual tracking operations to grip particle moving in liquid",
abstract = "A visual-servo automatic micromanipulating system was developed and tested for gripping the moving microparticle suspended in liquid well. An innovative design of microgripper integrated with flexible arms was utilized to constrain particles in a moving work space. A novel focus function by non-normalized wavelet entropy was proposed and utilized to estimate the depth for the alignment of microgripper tips and moving particle in the same focus plane. An enhanced tracking algorithm, which is based on Polar Coordinate System Similarity, incorporated with template matching, edge detection method, and circular Hough Transform, was implemented. Experimental tests of the manipulation processes from moving gripper to tracking, gripping, transporting, and releasing 30-50 μm Polystyrene particle in 25 °C water were carried out.",
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Polymer microgripper with autofocusing and visual tracking operations to grip particle moving in liquid. / Chang, Ren-Jung; Chien, Yu Cheng.

In: Actuators, Vol. 7, No. 2, 27, 01.06.2018.

Research output: Contribution to journalArticle

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