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Microrobotique numérique fondée sur l'utilisation de modules bistables : conception, fabrication et commande de modules monolithiques.

Abstract : During the last decade, significant research activities have been performed in the field of microrobotics, which deals with the design, the fabrication and the control of microrobots. These microrobots are intended to perform various tasks in the so-called Microworld (i.e. the world of submillimetric objects), in particular micromanipulation tasks of single objects (artificial or biological) for positioning, characterizing or sorting as well as for industrial microassembly. Researches already done have shown that the use of active materials to actuate microrobots gives better performances than the use of traditional actuators. However, despite their intrinsic high resolution, these materials present some disadvantages, making the design of efficient controllers a hard task. Their behavior is often complex, nonlinear and sometimes non stationary. Closedloop control of the microrobots requires the integration of very small sensors and the use of bulky and expensive instruments for signal processing and real-time operating. Packaging and integration of the sensors and actuators are also hard problems. This is why building multidegrees of freedom microrobots able to perform complex tasks is difficult. To get over these difficulties, we propose an approach to perform the microfabrication of microrobots using a modular concept and an open loop control strategy. These microrobots, named “digital microrobots” are based on the design of microrobots from several “elementary modules”, each offers a very good repeatability and stable positions. A binary signal switches the module between the two stable states. The position of the whole microrobot is controlled by a digital word representing the state of the modules. A paradigm is opened in the microrobotics field, allowing the design of various kinematics adapted to the microworld. The main advantages of this new microrobotic are modularity, absence of sensors, the flexibility, microfabricated robots and open-loop control.
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https://tel.archives-ouvertes.fr/tel-00474988
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Submitted on : Wednesday, April 21, 2010 - 10:30:47 AM
Last modification on : Thursday, November 12, 2020 - 9:42:08 AM
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  • HAL Id : tel-00474988, version 1

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Qiao Chen. Microrobotique numérique fondée sur l'utilisation de modules bistables : conception, fabrication et commande de modules monolithiques.. Automatique / Robotique. Université de Franche-Comté, 2010. Français. ⟨tel-00474988⟩

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