Abstract : Robotic microhandling is disturbed by the adhesion
phenomenon between the micro-object and the grippers. This phenomenon is
directly linked to both the object and the gripper surface chemical
composition. We propose to control adhesion by using chemical
self-assembly monolayer (SAM) on both surfaces. Previous distance-force
measurements done with AFM have shown that the liquid pH can be used to
modify the adhesion and created repulsive force between the gripper
fingers and the micro-objet. This paper shows the correlation between
the force distance distance measurements and the micromanipulation tasks
using chemically functionalized grippers.
Svetan Ratchev. 5th IFIP WG 5.5 International Precision Assembly Seminar (IPAS), Feb 2010, Chamonix, France. Springer, IFIP Advances in Information and Communication Technology, AICT-315, pp.215-221, 2010, Precision Assembly Technologies and Systems. 〈10.1007/978-3-642-11598-1_25〉
https://hal.inria.fr/hal-01055682
Contributeur : Hal Ifip
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Soumis le : mercredi 13 août 2014 - 11:57:48
Dernière modification le : jeudi 15 février 2018 - 08:48:08
Document(s) archivé(s) le : jeudi 27 novembre 2014 - 00:22:45
Jérôme Dejeu, Patrick Rougeot, Michaël Gauthier, Wilfrid Boireau. Improvement of Robotic Micromanipulations Using
Chemical Functionalisations. Svetan Ratchev. 5th IFIP WG 5.5 International Precision Assembly Seminar (IPAS), Feb 2010, Chamonix, France. Springer, IFIP Advances in Information and Communication Technology, AICT-315, pp.215-221, 2010, Precision Assembly Technologies and Systems. 〈10.1007/978-3-642-11598-1_25〉. 〈hal-01055682〉
