KR20040070192A - 나노 그리퍼 및 그 제조방법 - Google Patents
나노 그리퍼 및 그 제조방법 Download PDFInfo
- Publication number
- KR20040070192A KR20040070192A KR10-2004-7008126A KR20047008126A KR20040070192A KR 20040070192 A KR20040070192 A KR 20040070192A KR 20047008126 A KR20047008126 A KR 20047008126A KR 20040070192 A KR20040070192 A KR 20040070192A
- Authority
- KR
- South Korea
- Prior art keywords
- silicon
- pair
- nano
- gripper
- mask
- Prior art date
Links
- 238000004519 manufacturing process Methods 0.000 title claims description 41
- 229910052710 silicon Inorganic materials 0.000 claims abstract description 94
- 239000010703 silicon Substances 0.000 claims abstract description 94
- 239000013078 crystal Substances 0.000 claims abstract description 16
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims description 91
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 53
- 229910052814 silicon oxide Inorganic materials 0.000 claims description 46
- 238000005530 etching Methods 0.000 claims description 38
- KWYUFKZDYYNOTN-UHFFFAOYSA-M Potassium hydroxide Chemical compound [OH-].[K+] KWYUFKZDYYNOTN-UHFFFAOYSA-M 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 230000003647 oxidation Effects 0.000 claims description 7
- 238000007254 oxidation reaction Methods 0.000 claims description 7
- 230000001590 oxidative effect Effects 0.000 claims description 5
- 238000002425 crystallisation Methods 0.000 abstract 1
- 230000008025 crystallization Effects 0.000 abstract 1
- 239000000523 sample Substances 0.000 description 20
- 239000000758 substrate Substances 0.000 description 20
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 8
- 229910052782 aluminium Inorganic materials 0.000 description 8
- 239000000243 solution Substances 0.000 description 8
- 238000001459 lithography Methods 0.000 description 6
- 238000000206 photolithography Methods 0.000 description 5
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 4
- 238000000313 electron-beam-induced deposition Methods 0.000 description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 3
- 229910021393 carbon nanotube Inorganic materials 0.000 description 3
- 239000002041 carbon nanotube Substances 0.000 description 3
- 238000000151 deposition Methods 0.000 description 3
- 230000008021 deposition Effects 0.000 description 3
- 230000003628 erosive effect Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 239000002070 nanowire Substances 0.000 description 3
- 239000002674 ointment Substances 0.000 description 3
- 238000001020 plasma etching Methods 0.000 description 3
- 229910021420 polycrystalline silicon Inorganic materials 0.000 description 3
- 229920005591 polysilicon Polymers 0.000 description 3
- 150000003376 silicon Chemical class 0.000 description 3
- 229910000147 aluminium phosphate Inorganic materials 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- KRHYYFGTRYWZRS-UHFFFAOYSA-N Fluorane Chemical compound F KRHYYFGTRYWZRS-UHFFFAOYSA-N 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 229910052581 Si3N4 Inorganic materials 0.000 description 1
- 229910021417 amorphous silicon Inorganic materials 0.000 description 1
- 239000007864 aqueous solution Substances 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 229910000040 hydrogen fluoride Inorganic materials 0.000 description 1
- 238000009616 inductively coupled plasma Methods 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000011859 microparticle Substances 0.000 description 1
- 229910021421 monocrystalline silicon Inorganic materials 0.000 description 1
- 239000002159 nanocrystal Substances 0.000 description 1
- 238000005268 plasma chemical vapour deposition Methods 0.000 description 1
- 239000002244 precipitate Substances 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000000377 silicon dioxide Substances 0.000 description 1
- 235000012239 silicon dioxide Nutrition 0.000 description 1
- HQVNEWCFYHHQES-UHFFFAOYSA-N silicon nitride Chemical compound N12[Si]34N5[Si]62N3[Si]51N64 HQVNEWCFYHHQES-UHFFFAOYSA-N 0.000 description 1
- 238000004544 sputter deposition Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000001771 vacuum deposition Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B81—MICROSTRUCTURAL TECHNOLOGY
- B81C—PROCESSES OR APPARATUS SPECIALLY ADAPTED FOR THE MANUFACTURE OR TREATMENT OF MICROSTRUCTURAL DEVICES OR SYSTEMS
- B81C99/00—Subject matter not provided for in other groups of this subclass
- B81C99/0005—Apparatus specially adapted for the manufacture or treatment of microstructural devices or systems, or methods for manufacturing the same
- B81C99/002—Apparatus for assembling MEMS, e.g. micromanipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B82—NANOTECHNOLOGY
- B82B—NANOSTRUCTURES FORMED BY MANIPULATION OF INDIVIDUAL ATOMS, MOLECULES, OR LIMITED COLLECTIONS OF ATOMS OR MOLECULES AS DISCRETE UNITS; MANUFACTURE OR TREATMENT THEREOF
- B82B1/00—Nanostructures formed by manipulation of individual atoms or molecules, or limited collections of atoms or molecules as discrete units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B82—NANOTECHNOLOGY
- B82B—NANOSTRUCTURES FORMED BY MANIPULATION OF INDIVIDUAL ATOMS, MOLECULES, OR LIMITED COLLECTIONS OF ATOMS OR MOLECULES AS DISCRETE UNITS; MANUFACTURE OR TREATMENT THEREOF
- B82B3/00—Manufacture or treatment of nanostructures by manipulation of individual atoms or molecules, or limited collections of atoms or molecules as discrete units
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
- F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B81—MICROSTRUCTURAL TECHNOLOGY
- B81B—MICROSTRUCTURAL DEVICES OR SYSTEMS, e.g. MICROMECHANICAL DEVICES
- B81B2201/00—Specific applications of microelectromechanical systems
- B81B2201/03—Microengines and actuators
- B81B2201/031—Thermal actuators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S977/00—Nanotechnology
- Y10S977/902—Specified use of nanostructure
- Y10S977/962—Specified use of nanostructure for carrying or transporting
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Robotics (AREA)
- Combustion & Propulsion (AREA)
- Nanotechnology (AREA)
- Manufacturing & Machinery (AREA)
- Crystallography & Structural Chemistry (AREA)
- General Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Micromachines (AREA)
- Manipulator (AREA)
- Apparatus Associated With Microorganisms And Enzymes (AREA)
Abstract
Description
Claims (6)
- 대향하는 한쌍의 아암과, 이 한쌍의 아암의 선단부에 있어서의 대향면에, 선단끼리를 대향시켜서 각각 형성된 한쌍의 돌기부로 이루어지고, 이 돌기부의 선단이, 50 나노미터 이하의 곡률인 것을 특징으로 하는 나노 그리퍼.
- 제1항에 있어서,상기 돌기부가, 실리콘의 결정이고, (100)면, (001)면 및 (111)면으로 구성된 정점을 구비한 삼각추의 형상인 것을 특징으로 하는 나노 그리퍼.
- 제1항 또는 제2항에 있어서,상기 한쌍의 아암의 선단부끼리를 접근·이격시키는 한쌍의 액츄에이터가 구비되어 있는 것을 특징으로 하는 나노 그리퍼.
- 제3항에 있어서,상기 액츄에이터가, 열팽창(熱膨脹) 액츄에이터인 것을 특징으로 하는 나노 그리퍼.
- 제4항에 있어서,상기 열팽창 액츄에이터가, 실리콘으로 만든 한쌍의 신축(伸縮) 아암으로 이루어지고, 각 신축 아암에 통전시키기 위한 한쌍의 전극이 형성된 것을 특징으로 하는 나노 그리퍼.
- 절연층 및 (001)면 방위를 가지는 실리콘층을 구비한 기재(基材)를 재료로 하여, 대향하는 한쌍의 아암을 구비한 나노 그리퍼를 제조하는 제조방법으로서, 상기 실리콘층의 표면에 <010> 방향을 따라서 가늘고 긴 마스크를 형성하는 스텝과, 상기 실리콘층의 표면에, 상기 아암이 될 원(原) 아암 부분에 대응하는 레지스트를, 상기 원 아암 부분이 상기 마스크의 좌우 양측에 위치하도록 형성하는 스텝과, 상기 실리콘층을 엣칭하여, 제조할 나노 그리퍼 및 상기 마스크가 조합된 형상과 동일 형상의 원(原) 나노 그리퍼를 형성하는 스텝과, 상기 레지스트만을 제거하는 레지스트 제거 스텝과, 상기 원 나노 그리퍼의 노출된 실리콘면을 열(熱)산화시켜서, 산화실리콘막을 형성시키는 열산화 스텝과, 상기 마스크만을 제거하는 마스크 제거 스텝과, 상기 원 나노 그리퍼의 표면에 있어서, 상기 마스크로 피복되어 있던 비(非) 산화실리콘면을 수산화칼륨용액으로 실리콘엣칭하는 실리콘엣칭 스텝과, 상기 원 나노 그리퍼의 산화실리콘막을 엣칭하여 제거하는 산화실리콘막 제거 스텝을 순차적으로 실행하는 것을 특징으로 하는 나노 그리퍼의 제조방법.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2001/010443 WO2003045838A1 (en) | 2001-11-29 | 2001-11-29 | Nano gripper and method of manufacturing the nano gripper |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20040070192A true KR20040070192A (ko) | 2004-08-06 |
KR100804031B1 KR100804031B1 (ko) | 2008-02-18 |
Family
ID=11737981
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020047008126A KR100804031B1 (ko) | 2001-11-29 | 2001-11-29 | 나노 그리퍼 및 그 제조방법 |
Country Status (6)
Country | Link |
---|---|
US (2) | US7322622B2 (ko) |
JP (1) | JP4167597B2 (ko) |
KR (1) | KR100804031B1 (ko) |
CN (1) | CN1558868A (ko) |
AU (1) | AU2002224125A1 (ko) |
WO (1) | WO2003045838A1 (ko) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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KR100597763B1 (ko) * | 2004-12-27 | 2006-07-06 | 전자부품연구원 | 마이크로 그리퍼의 제조 방법 |
KR100705797B1 (ko) * | 2006-05-30 | 2007-04-13 | 전자부품연구원 | 흡착형 마이크로 그리퍼 및 그의 제조 방법 |
KR100712420B1 (ko) * | 2006-05-30 | 2007-04-27 | 전자부품연구원 | 그리퍼 및 그를 구비한 그립 장치 |
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US7025619B2 (en) | 2004-02-13 | 2006-04-11 | Zyvex Corporation | Sockets for microassembly |
US7261352B2 (en) * | 2004-07-13 | 2007-08-28 | Samsung Electronics Co., Ltd. | Electrostatically driven carbon nanotube gripping device |
JP4643192B2 (ja) * | 2004-07-16 | 2011-03-02 | アオイ電子株式会社 | グリッパ |
JP4529012B2 (ja) * | 2004-07-16 | 2010-08-25 | アオイ電子株式会社 | ナノグリッパ装置 |
JP2006026827A (ja) * | 2004-07-16 | 2006-02-02 | Aoi Electronics Co Ltd | 測長機能付きナノグリッパ装置 |
US7431364B2 (en) * | 2004-09-01 | 2008-10-07 | National Koasiung University Of Applied Sciences | Microgripper device for a micro-mechanism |
US7849515B2 (en) | 2004-11-22 | 2010-12-07 | National University Corporation Kagawa University | Nanotweezer and scanning probe microscope equipped with nanotweezer |
US20070057522A1 (en) * | 2005-02-14 | 2007-03-15 | Keller Christpher G | Tool to pick up microparts |
JP2006255847A (ja) * | 2005-03-18 | 2006-09-28 | Kagawa Univ | ナノピンセット、これを備える微小力計測装置および方法 |
JP4562614B2 (ja) * | 2005-08-09 | 2010-10-13 | アオイ電子株式会社 | ナノピンセット装置 |
JP4562615B2 (ja) * | 2005-08-09 | 2010-10-13 | アオイ電子株式会社 | 微小試料把持装置 |
DE102006023768A1 (de) * | 2006-05-20 | 2007-11-22 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Mikrogreifer |
GB0610392D0 (en) * | 2006-05-25 | 2006-07-05 | Univ Durham | Electro-mechanical actuator and apparatus incorporating such device |
CA2551191C (en) * | 2006-06-23 | 2016-04-05 | Keekyoung Kim | Electrothermally-driven mems microgrippers with integrated dual-axis capacitive force sensors |
CN100443266C (zh) * | 2006-09-28 | 2008-12-17 | 上海交通大学 | 内嵌镍丝双菱型结构加热式驱动su-8基体微钳 |
JP4503633B2 (ja) * | 2007-06-22 | 2010-07-14 | アオイ電子株式会社 | Afmピンセットおよび走査型プローブ顕微鏡 |
JP5039944B2 (ja) * | 2008-01-22 | 2012-10-03 | エスアイアイ・ナノテクノロジー株式会社 | 走査型プローブ顕微鏡用ピンセットシステム、走査型プローブ顕微鏡装置およびゴミの除去方法 |
JP2009248229A (ja) * | 2008-04-04 | 2009-10-29 | Sii Nanotechnology Inc | 微小マニピュレータ、及びそれを備えた観察装置 |
JP4618744B2 (ja) * | 2008-05-30 | 2011-01-26 | セイコーインスツル株式会社 | ピンセット及びこれを備えたマニュピレータシステム |
CN101327592B (zh) * | 2008-07-23 | 2010-06-16 | 哈尔滨工业大学 | 集成压阻微力检测的四臂式mems微夹持器 |
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JP2010181339A (ja) * | 2009-02-06 | 2010-08-19 | Sii Nanotechnology Inc | 微小マニピュレータ装置 |
US8979149B2 (en) * | 2009-02-17 | 2015-03-17 | Yu Sun | Device for grasping and active release of micro and nano objects |
US8669691B2 (en) | 2009-07-10 | 2014-03-11 | Viking At, Llc | Small scale smart material actuator and energy harvesting apparatus |
US8621756B2 (en) | 2009-09-04 | 2014-01-07 | Viking At, Llc | Smart material actuator adapted for resonant operation |
US8850892B2 (en) | 2010-02-17 | 2014-10-07 | Viking At, Llc | Smart material actuator with enclosed compensator |
CN101913130B (zh) * | 2010-08-25 | 2012-10-10 | 清华大学 | 电致动夹持器 |
FR2975935B1 (fr) * | 2011-06-06 | 2013-07-05 | Centre Nat Rech Scient | Outil pour pince microtechnique |
WO2015100280A1 (en) | 2013-12-24 | 2015-07-02 | Viking At, Llc | Mechanically amplified smart material actuator utilizing layered web assembly |
US11242241B2 (en) * | 2015-07-13 | 2022-02-08 | Intrepid Visions Inc. | Systems and methods for micro-cantilever actuation by base excitation |
CN105058366B (zh) * | 2015-08-20 | 2017-03-22 | 宁波大学 | 一种四自由度压电微夹钳 |
TWI615350B (zh) * | 2016-08-22 | 2018-02-21 | 具有非接觸式釋放功能的穩態夾持系統 | |
CN108500951B (zh) * | 2018-03-14 | 2020-11-06 | 上海应用技术大学 | 一种激光驱动的带有柔顺放大机构的微夹钳 |
KR102061621B1 (ko) * | 2018-06-15 | 2020-01-02 | 안준형 | 마이크로 그립퍼의 제작방법 |
CN111347461B (zh) * | 2018-12-20 | 2022-03-25 | 湖南早晨纳米机器人有限公司 | 纳米机器人制作工艺 |
CN109909976B (zh) * | 2019-03-18 | 2021-12-24 | 天津大学 | 具有三级运动放大机构的对称式空间立体微机械手 |
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2001
- 2001-11-29 CN CNA018238335A patent/CN1558868A/zh active Pending
- 2001-11-29 WO PCT/JP2001/010443 patent/WO2003045838A1/ja active Application Filing
- 2001-11-29 KR KR1020047008126A patent/KR100804031B1/ko active IP Right Grant
- 2001-11-29 JP JP2003547301A patent/JP4167597B2/ja not_active Expired - Fee Related
- 2001-11-29 AU AU2002224125A patent/AU2002224125A1/en not_active Abandoned
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100597763B1 (ko) * | 2004-12-27 | 2006-07-06 | 전자부품연구원 | 마이크로 그리퍼의 제조 방법 |
KR100705797B1 (ko) * | 2006-05-30 | 2007-04-13 | 전자부품연구원 | 흡착형 마이크로 그리퍼 및 그의 제조 방법 |
KR100712420B1 (ko) * | 2006-05-30 | 2007-04-27 | 전자부품연구원 | 그리퍼 및 그를 구비한 그립 장치 |
Also Published As
Publication number | Publication date |
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US20080061031A1 (en) | 2008-03-13 |
US20050029827A1 (en) | 2005-02-10 |
KR100804031B1 (ko) | 2008-02-18 |
JPWO2003045838A1 (ja) | 2005-04-07 |
US7322622B2 (en) | 2008-01-29 |
CN1558868A (zh) | 2004-12-29 |
WO2003045838A1 (en) | 2003-06-05 |
AU2002224125A1 (en) | 2003-06-10 |
JP4167597B2 (ja) | 2008-10-15 |
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