A case study of surface tension gripping: the watch bearing

This paper reports the modeling and experimental work done for the design of a microgripper using surface tension forces for the handling of submillimetric balls of a watch bearing. Its originality lies in the adaptation of existing capillary forces models to this microassembly case study and in the exhaustive characterization work required as a first step towards an automated assembly. Picking and placing operations have been experimentally studied, and solutions are proposed to tackle the typical related problems. The component feeding should be studied in detail.