Miniature robot with micro capillary capturing probe

摘要

A micro capillary capturing probe which is based on 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 the solenoid 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 help of surface tension and retract it into the capillary. The simple principle and design are discussed and the experimental results of capturing small objects are demonstrated. This active probe has been successfully implemented into our miniature precise robot for surface clearing operation.