Skip to Main content Skip to Navigation
Theses

Contribution à l'étude de la micromanipulation robotisée en milieu liquide : conception et modélisation d'un système de micromanipulation immergée par changement de phase.

Abstract : This work is related to the micromanipulation issue, defined as the manipulation of objects sized between 1 micron and 1 mm. The behaviour of these objects is strongly disturbed by adhesion and surface forces and their manipulation are complex and not repeatable. We demonstrate that these forces are reduced when artificial micro-objects, usually used in air or vacuum, are submerged in water. In this context, we propose an original principle of submerged phase changing micromanipulation. The micro-object is handled by an ice microvolume created in water, and released thawing ice without adhesion perturbations. The validation of the principle is done developing and testing a prototype manipulating objects sizing 600 microns. The study of the system based on two Peltier modules needs thermal modelling that we propose to carry out using electric analogy. An original thermal model of a long beam similar to our heat sink is proposed. This original modelling can be applied to other thermal microactuators as there are often in a cantilever shape. The thermal model using electric analogy of the complete device is achieved and validated experimentally. This work proposes a new simulation tool for thermal microsystems and an original and promising micromanipulation method. Further works deal with the control system in order to apply it to practical applications.
Document type :
Theses
Complete list of metadatas

Cited literature [170 references]  Display  Hide  Download

https://tel.archives-ouvertes.fr/tel-00282872
Contributor : Martine Azema <>
Submitted on : Wednesday, May 28, 2008 - 4:03:10 PM
Last modification on : Thursday, November 12, 2020 - 9:42:07 AM
Long-term archiving on: : Friday, May 28, 2010 - 8:31:49 PM

Identifiers

  • HAL Id : tel-00282872, version 1

Citation

Beatriz Cristina Lopez-Walle. Contribution à l'étude de la micromanipulation robotisée en milieu liquide : conception et modélisation d'un système de micromanipulation immergée par changement de phase.. Automatique / Robotique. Université de Franche-Comté, 2008. Français. ⟨tel-00282872⟩

Share

Metrics

Record views

500

Files downloads

782