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Contribution à la micromanipulation robotisée : un système de changement d'outils automatique pour le micro-assemblage

Abstract : Micromanipulation tasks, transfer and assembly of very small objets are
among the main issues of micro-robotics. Micromanipulation deals with the
manipulation of objects with 1 micrometer to 1 mm in size and requires a
positioning accuracy in regard with the considered dimensions. Micro-assembly
consists in a sequence of elementary tasks leading to the production of
micro-components composed of single parts. Manipulating each of these parts
requires to use dedicated effectors, adapted to their particularities
(geometry, dimensions, mechanical properties). To perform a micro-assembly
process, several different tools have to be used successively.

In this aim, a micromanipulation station has been developped. It is composed of
a microgripper fixed at the tip of a three degrees of freedom manipulator. A
new system allowing the exchange of the tip part of the microgripper (i.e. the
tools) has particularly been studied and designed. This system enables to fix
alternatively the tools either at the tip of the actuator of the microgripper
or in a magazine. The principle of this system is based on the used of a
thermal glue that can be liquefied by heating or solidified by cooling down.

This tools changer brings flexibility to the micromanipulation station and
enables to perform micro-assembly tasks in confined spaces such as in the
vacuum chamber of a scanning electron microscope. A compliant work plane has
also been designed to reduce competing forces during micromanipulation tasks.
It also permits to increase the chances of success for delicate operations.
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Contributor : Cédric Clévy <>
Submitted on : Thursday, March 1, 2007 - 2:00:16 PM
Last modification on : Thursday, November 12, 2020 - 9:42:34 AM
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  • HAL Id : tel-00134271, version 1



Cédric Clévy. Contribution à la micromanipulation robotisée : un système de changement d'outils automatique pour le micro-assemblage. Automatique / Robotique. Université de Franche-Comté, 2005. Français. ⟨tel-00134271⟩



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