Improvement of robotic micromanipulations using chemical functionalisations.Reportar como inadecuado




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1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies

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.

Keywords : pull-off forces Microhandling surface functionalisation aminosilane adhesion pull-off forces.





Autor: Jérôme Dejeu - Patrick Rougeot - Michaël Gauthier - Wilfrid Boireau -

Fuente: https://hal.archives-ouvertes.fr/



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