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.
https://hal.inria.fr/hal-01055682 Contributor : Hal IfipConnect in order to contact the contributor Submitted on : Wednesday, August 13, 2014 - 11:57:48 AM Last modification on : Thursday, January 13, 2022 - 12:00:19 PM Long-term archiving on: : Thursday, November 27, 2014 - 12:22:45 AM
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⟩