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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.
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Jérôme Dejeu, Patrick Rougeot, Michaël Gauthier, Wilfrid Boireau. Improvement of Robotic Micromanipulations Using Chemical Functionalisations. 5th IFIP WG 5.5 International Precision Assembly Seminar (IPAS), Feb 2010, Chamonix, France. pp.215-221, ⟨10.1007/978-3-642-11598-1_25⟩. ⟨hal-01055682⟩

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