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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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〉
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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〉

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