Low-Cost High-Precision Contactless Robotic Gripper

Within the field of designing robotics systems for the purpose of handling and transporting materials, there exist certain limitations and restrictions when it comes to dealing with materials that are extremely small or delicate. One solution is using ultrasonic forces to trap small objects in a suspended state. In the last few years, techniques have been created for controlling levitating items positioned on surfaces that are either acoustically transparent or reflective. This paper introduces the design of a four-degree-of-freedom ultrasonic levitation robotic system that is more readily accessible and feasible for precision handling of objects that are of very small or delicate natures. Simulation results anticipate transportation of levitated solids and liquids is achievable with densities of 0.5 to 3.6 g/cm
³
.