DocumentCode :
2586573
Title :
Control of adhesion using surface functionalisations for robotic microhandling
Author :
Dejeu, Jérôme ; Rougeot, Patrick ; Lakard, Sophie ; Gauthier, Michaël
Author_Institution :
AS2M Dept., UTBM, Besancon, France
fYear :
2012
fDate :
7-12 Oct. 2012
Firstpage :
2307
Lastpage :
2312
Abstract :
Robotic microhandling is a promising way to assemble microcomponents in order to manufacture new generation of Hybrid Micro ElectroMechanical Systems (HMEMS). However, at the scale of several micrometers, adhesion phenomenon highly perturbs the micro-objects release and the positioning. This phenomenon is directly linked to both the object and the gripper surface mechanical and chemical properties. The control of the adhesion properties requires multidisciplinary approaches including roughness control, mechanical properties control and chemical surface functionalisation. We propose to control adhesion by using chemical surface function-alisations by intrinsic conducting polymer electrodeposition or Self-Assembly Monolayer (SAM) and using surface structuration.
Keywords :
adhesion; electrodeposition; grippers; mechanical variables control; micromanipulators; micromechanical devices; micropositioning; polymers; robotic assembly; HMEMS; SAM; adhesion control; chemical surface functionalisation; gripper surface chemical properties; gripper surface mechanical properties; hybrid micro electromechanical systems; intrinsic conducting polymer electrodeposition; mechanical properties control; microcomponent assembly; positioning; robotic microhandling; roughness control; self-assembly monolayer; surface structuration; Adhesives; Force; Force measurement; Polymers; Rough surfaces; Substrates; Surface roughness;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
ISSN :
2153-0858
Print_ISBN :
978-1-4673-1737-5
Type :
conf
DOI :
10.1109/IROS.2012.6385601
Filename :
6385601
Link To Document :
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