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Conception et réalisation d'un système de micromanipulation contrôlé en effort et en position pour la manipulation d'objets de taille micrométrique.

Abstract : The manipulation of very small objects is one of the most important tasks in microrobotics. Actually, mastering the manipulation of objects of a size from 1 µm to 1 mm is a big challenge. Micromanipulators are required in all fields where precise manipulation of very small objects must be performed. Designing tools able to handle small objects is a hard task because a lot of problems must be solved before obtaining operational micromanipulators. In this work, we propose the design and fabrication of a micromanipulation system made up of a piezoelectrically actuated microgripper and a micropositioning system actuated by SMA (Shape Memory Alloy) wires. The designed microgripper is characterised by a positioning resolution of each finger better than 10 nm. It allows the measurement or the estimation of the forces applied on the manipulated object. This is very important particularly when handling very fragile objects (biological cells, optical and electronic microcomponents...). A dynamic model of the microgripper has been developed. The designed micropositioning system is made up of a micropositioning table and a micropositioning arm. A microobject can be moved in a volume of 6 mm3 with a resolution of 1 µm. Various micromanipulation tasks have been successfully performed. Our system can be built easily with a very low cost and can be used to perform micromanipulation tasks in industrial and biomedical applications.
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Yassine Haddab. Conception et réalisation d'un système de micromanipulation contrôlé en effort et en position pour la manipulation d'objets de taille micrométrique.. Automatique / Robotique. Université de Franche-Comté, 2000. Français. ⟨tel-00258279⟩

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