Ezcurdia Aguirre, Íñigo FermínMorales González, RafaelMarzo Pérez, Asier2022-08-162022-08-162021https://academica-e.unavarra.es/handle/2454/43792LeviPrint assembles small objects in a contactless way using ultrasonic phased-arrays and optimization algorithms. We explore a set of methods that enables 6 Degrees-of-Freedom (DoF) control of elongated bodies. We then evaluate different ultrasonic arrangements to optimize the manipulation of these bodies. The combination of arrangements and optimization algorithms allow us to levitate, orientate and assemble complex objects. These techniques and arrangements can be leveraged for the microfabrication of electromechanical components and in-vivo additive manufacturing. We highlight the reduction of cross-contamination and the capability to manufacture inside closed containers from the outside.application/pdfengCreative Commons Atribución-NoComercial-SinDerivadas 4.0 Internacional (CC BY-NC-ND 4.0)Acoustic hologram algorithm3D acoustic printerAcoustic levitationAcoustic tweezersAdditive manufacturinginfo:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/openAccess