C T T tranngocdangkhoa@iuh.edu.vn Minh; Abstract Pick and place task are largely widespread operations in the industrial world, especially in micro world At these scales, surface forces become dominating in comparison with volumic forces Microgripper help the human the task in the tiny world The paper presented a gripper capable of autonomous release of micro objects Release of adhered micro objects is achieved by vibration of end effectors The vibratory motion of the end effectors is attributed by an impact bar embedded in a bistable mechanism External force was applied to operate the gripper Exploitation the bistable mechanism behaviour, the gripper requires no power input during gripping of objects The compliant mechanism of the gripper help limitation the friction and wear for its operation Keywords Gripper, compliant, bistable mechanism, adhisive object Aray [3] micro micro áp dính Chen Demaghsi [5] comb drive 50 Lofroth Avci [8] micro micro Hình 51 2.1 Nguyên lý ho ng micro K micro Chevron, micro Hình 1(a) iên hai tay ì F vào vào micro dính Hình 2.2 u hai v trí - nh thích 52 Thanh [2, 4-6] Hình trình bày ng Hình 3: K v , - Hình mơ hình 53 Hình - , 7Gpa [10] Hình 54 Hình ABAQUS Hình 6(a) hình 6(b) Hình 6(c) trình bày Hình 6(d) (a) (b) (c) (d) Hình S th a m h ng rung c n l l c k t dính gi a v t th vi mơ liên k ng cu i nh m u bung M u v t tách kh u k p s ng lên xu ng v i t n s nhanh th dính có n q trình tách r i v t th u k p M thu n ti n vi c thi t k tay k p vi mô Bên c va ch m gi a k t c u nên c n kh o sát thêm tính b n c c tránh s ng c a thi t b c kíc ct a m u v t mà k p có th g c C n có th c nghi hi u qu c ut ng bung 55 Hình Bài báo trình bày thi t k c a d ng c k p micro v i ho ng k p th t i v i v t th nh c phát tri n Vi c gi v t th không c n ngo i l c l c nén c u b bi n d ng t u gi v t th tr ng thái cân b ng th hai ng d ng gây b i s va ch m gi a chuy u k p giúp v t th uk c th ngồi Q trình g p th v n c n ngo i l c, trình gi tách v t th dính khơng c n ngo i l c, giúp ti t ki c bi t ng d ng th gi i micro Thi t b có tính ng d c y sinh, ph c v trình g p th t dính cao Tuy nhiên, thi t b n th c nghi ch ng minh tính hi u qu o sát thêm y u t n trình ho ng c a thi t b [1] -Controlled Manipulation of Biological Cells Using a Monolithic MEMS Microgripper with Two-Axis Force Feedbac 055013, 2008 [2] using a MEMS microgripper to Microelectromechanical Systems, vol 2, pp 652-659, 2009 [3] - 359, 1996 56 [4] n Control with Systems, Taipei, Taiwan, 2010 [5] -72, 2014 [6] International Conference on Intelligent Robots and Systems, Beijing, China, 2006 [7] H Zhang, J Sun, and J Zhao, Compliant Bistable Gripper for Aerial Perching and Grasping, 2019 International Conference on Robotics and Automation (ICRA), 2019 [8] M Lofroth and E Avci, Development of a Novel Modular Compliant Gripper for Manipulation of Micro Objects, Micromachines, 2019 [9] T.A Nguyen, D.A Wang, A Gripper Based on a Compliant Bitable Mechanism for Gripping and Active Release of Objects, Manipulation, Automation and Robotics at Small Scales (MARSS), 2016 [10] pp 89 97, 2012 03/04/2020 24/07/2020 ... Perching and Grasping, 2019 International Conference on Robotics and Automation (ICRA), 2019 [8] M Lofroth and E Avci, Development of a Novel Modular Compliant Gripper for Manipulation of Micro Objects,... Micro Objects, Micromachines, 2019 [9] T.A Nguyen, D.A Wang, A Gripper Based on a Compliant Bitable Mechanism for Gripping and Active Release of Objects, Manipulation, Automation and Robotics at... b [1] -Controlled Manipulation of Biological Cells Using a Monolithic MEMS Microgripper with Two-Axis Force Feedbac 055013, 2008 [2] using a MEMS microgripper to Microelectromechanical Systems,