Robotic manipulation system utilizing patterned granular motion

• US 6,216,631 B1
• Filed: 08/12/1999
• Issued: 04/17/2001
• Est. Priority Date: 08/12/1999
• Status: Expired due to Term

• Current Assignee: Mitre Corporation
• Original Assignee: Mitre Corporation
• Inventors: Wissner-Gross, Alexander D.
• Primary Examiner(s): EDWARDS, LAURA ESTELLE
• Application Number:
  US09/372,619
• Time in Patent Office: 614 Days
• Field of Search: 118/612, 118/712, 118/50.1, 118/620, 118/621, 118/623, 118/624, 118/625, 118/640, 118/DIG.5, 427/459, 427/473, 427/474, 427/475, 427/553, 427/213, 427/903, 361/225, 361/226, 361/230, 361/233, 399/258, 347/158, 423/445.B, 204/222, 204/298.29
• US Class Current: 118/50.1
• CPC Class Codes: B05D 2401/32 applied as powders
• CPC Class Codes: B05D 3/12 by mechanical means
• CPC Class Codes: B05D 5/00 Processes for applying liquids or other fluent materials to surfaces to obtain special surface effects, finishes or structures
• CPC Class Codes: B82Y 10/00 Nanotechnology for information processing, storage or transmission, e.g. quantum computing or single electron logic
• CPC Class Codes: B82Y 30/00 Nanotechnology for materials or surface science, e.g. nanocomposites
• CPC Class Codes: C30B 35/00 Apparatus not otherwise provided for, specially adapted for the growth, production or after-treatment of single crystals or of a homogeneous polycrystalline material with defined structure
• CPC Class Codes: Y10S 977/724 Devices having flexible or movable element
• CPC Class Codes: Y10S 977/84 Manufacture, treatment, or detection of nanostructure
• CPC Class Codes: Y10S 977/88 with arrangement, process, or apparatus for testing
• CPC Class Codes: Y10S 977/882 Assembling of separate components, e.g. by attaching
• CPC Class Codes: Y10S 977/888 Shaping or removal of materials, e.g. etching
• CPC Class Codes: Y10S 977/89 Deposition of materials, e.g. coating, cvd, or ald
• CPC Class Codes: Y10S 977/932 for electronic or optoelectronic application

Abstract

A system (100, 100′, 100″) and method for robotic manipulation of objects (130) is provided wherein particulates (110, 110′) are agitated by the transfer of energy thereto to establish patterned granular motion of the particulates (110, 110′). The patterned granular motion of the particulates (110, 110′) forms standing waves (112). The objects (130) align themselves with the standing waves (112) and thus are dynamically arranged in a configuration established by the location of the standing waves (112). The location of the standing waves (112) can be predetermined by controlling the waveform of the signals applied to the energy application system (140). The predetermined waveforms are supplied from the signal source (150, 154) to the energy application system (140).

Claims

1. A system for robotic manipulation of a plurality of object, comprising:

a container

a plurality of particulates disposed in said container;

a plurality of objects to be manipulated disposed in said container, said plurality of objects being distinct from said plurality of particulates;

means for applying energy to said plurality of particulates to establish patterned granular motion thereof and thereby forming a plurality of repeated vertically directed standing waves, said standing waves of said plurality of particulates respectively imparting displacement forces to said plurality of objects; and

;

signal means coupled to said energy application mean for supplying said energy with predetermined waveforms to dynamically position said standing waves at predetermined positions one with respect to another, said predetermined portions of said standing waves dynamically displacing and arranging said objects in a predetermined configuration.

2. The system as recited in claim 1 where said energy application means includes means for vibrating a wall of said container.

3. The system as recited in claim 1 where said energy application means includes means for establishing oscillatory electric fields in said container.

4. The system as recited in claim 1 where each of said plurality of particulates is a single molecule.

5. The system as recited in claim 4 where each said single molecule is a molecule having a closed-cage structure.

6. The system as recited in claim 5 where each said closed-cage structural molecule is a buckminsterfullerene molecule.

7. The system as recited in claim 4 where said energy application means includes means for establishing oscillatory electric fields in said container, said standing waves of molecules respectively generating fields that perform said dynamic displacement and arrangement of said objects in said predetermined configuration.

8. The system as recited in claim 4 where said objects are electrically conductive and said predetermined configuration defines a plurality of substantially identical nanoscale circuit patterns.

9. The system as recited in claim 4 where said objects are individual molecules.

10. The system as recited in claim 4 where said particulates and said objects are each in a medium independently selected from the group consisting of a vacuum, a gas, a liquid, and a gel.

11. The system as recited in claim 4 where said objects are molecular circuit elements and said predetermined configuration defines a plurality of substantially identical nanoscale circuits.

12. The system as recited in claim 4 where said objects are mechanical structures and said predetermined configuration defines a plurality of substantially identical nanoscale machine assemblies.

13. The system as recited in claim 1 where said objects are electrically conductive and said predetermined configuration defines a plurality of substantially identical circuit patterns.

14. The system as recited in claim 1 where said particulates and said objects are each in a medium independently selected from the group consisting of a vacuum, a gas, a liquid, and a gel.

15. The system as recited in claim 1 where said objects are individual molecules.

16. The system as recited in claim 1 where said distinction between said plurality of objects and said plurality of particulates is at least one characteristic selected from the group consisting of structure, composition, size or shape.

17. A system for robotic manipulation of a plurality of objects, comprising:

a container

a plurality of ionized molecules disposed in said container;

a plurality of objects to be manipulated disposed in said container, each of said objects being distinct from said plurality of ionized molecules and less than 10 microns in size;

means for applying oscillatory electric fields to said plurality of ionized molecules to establish patterned granular motion thereof and thereby form a plurality of repeating vertically directed standing waves, said standing waves of said plurality of particulates respectively imparting displacement forces to said plurality of objects; and

,

signal means coupled to said oscillatory electric fields application means for establishing said oscillatory electric fields with predetermined waveforms to dynamically position said standing waves at predetermined positions one with respect to another, said standing waves of ionized molecules respectively generating fields that dynamically displace and arrange the objects into a predetermined configuration.

18. The system as recited in claim 17 where said objects are electrically conductive and said predetermined configuration defines a plurality of substantially identical nanoscale circuit patterns.

19. The system as recited in claim 18 where said objects are carbon nanotubes.

20. The system as recited in claim 19 where said carbon nanotubes are bent by said standing wave generated fields.

21. The system as recited in claim 19 where said carbon nanotubes are distorted by said standing wave generated fields.

22. The system as recited in claim 19 where said carbon nanotubes are translated by said standing wave generated fields.

23. The system as recited in claim 17 where said ionized molecules and said objects are each in a medium independently selected from the group consisting of a vacuum, a gas, a liquid, and a gel.

24. The system as recited in claim 17 where said objects are molecular circuit elements and said predetermined configuration defines a plurality of substantially identical nanoscale circuits.

25. The system as recited in claim 17 where said objects are nanometer-scale mechanical elements and said predetermined configuration defines a plurality of substantially identical nanoscale machine assemblies.

26. The system as recited in claim 17 where said distinction between said plurality of objects and said plurality of particulates is at least one characteristics selected from the group consisting of structure, composition, size or shape.

27. A system for robotic manipulation of a plurality of objects, comprising:

a container;

a plurality of particulates disposed in said container;

a plurality of objects to be manipulated disposed in said container and being distinct from said plurality of particulates;

means for applying energy to said plurality of particulates to establish patterned granular motion thereof and thereby forming a plurality of repeating vertically directed standing waves, said standing waves of said plurality of particulates respectively imparting displacement forces to said plurality of objects;

signal means coupled to said energy application means for supplying said energy with predetermined waveforms to dynamically position said standing waves at predetermined positions one with respect to another, said predetermined positions of said standing waves dynamically displacing and arranging the objects in a predetermined configuration; and

,

means for monitoring at least one characteristic of at least one of said plurality of objects being manipulated, said monitoring means having an output coupled to said signal means for providing a feedback signal thereto for altering said predetermined waveforms and thereby adjusting said predetermined configuration.

28. The system as recited in claim 27 where said distinction between said plurality of objects and said plurality of particulates is at least one characteristic selected from the group consisting of structure, composition, size or shape.