A Dynamic JKR Model with Application to Vibrational Release in Micromanipulation

— In this paper a dynamic contact model is presented based on the Johnson-Kendall-Roberts (JKR) theory. The classical JKR model captures the contact properties for the quasi-static condition, which does not hold in some applications related to micromanipulation. The proposed model includes rate-dependent terms and accounts for dynamic effects such as damping. The model predicts that the threshold of the force for separating two objects in contact depends on the slew rate of the force. The implication of this result in vibrational releasing of micro objects is explored with the goal of minimizing the uncertainty in positions of released objects. Simulation results are reported on releasing of a micro sphere from a cantilever manipulator actuated by a piezoelectric layer.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Yang Fang, Xiaobo Tan
• Keywords: Classical Jkr Model, Dynamic Contact Model, IROS 2006, Model, Robotics