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Improvement of Robotic Micromanipulations Using Chemical Functionalisations
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.
Cited literature [11 references]
https://hal.inria.fr/hal-01055682
Contributor : Hal Ifip <>
Submitted on : Wednesday, August 13, 2014 - 11:57:48 AM
Last modification on : Thursday, November 12, 2020 - 9:42:14 AM
Long-term archiving on: : Thursday, November 27, 2014 - 12:22:45 AM
Contributor : Hal Ifip <>
Submitted on : Wednesday, August 13, 2014 - 11:57:48 AM
Last modification on : Thursday, November 12, 2020 - 9:42:14 AM
Long-term archiving on: : Thursday, November 27, 2014 - 12:22:45 AM
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Paper_16_-_DEJEU.pdf
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