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Conception, modélisation et commande d'une surface de manipulation sans contact à flux d'air induit.

Abstract : This thesis presents the design, the modeling and the control of a pneumatic manipulator based on an original aerodynamic traction principle. A horizontal air flow is induced by strong vertical air jets in order to manipulate objects without contact. The objects are maintained in constant levitation on an aire cushion. Three degrees of freedom positioning of the objects can be realized thanks to the right combination of distributed air jets. The design of an original manipulator using this aerodynamic principle is detailed. The device has been integrated in an experimental setup in order to validate the manipulation principle : objects can reach velocity of 180 mm/s. Several models of the system have been established. A first model, based on experimental date, gives the evolution of the 1 DOF-position of an object on the device. Two other models, based on a fundamental aerodynamic study, respectively give the evolution opf the 2- and 3-DOF position of the objet. The three models have been validated experimentally. In order to control the position of the object, different controllers have been designed : a PID one and a robust H1 one. The cotrol of one and two degrees of freedom of the device gives good performances : settling time of around 2 s and overshoot less than 5% in most of the cases. We have also studied a micro-manipulator that is able to position millimetre sized objects, in two directions, thanks to inclined aire jets. Objects can reach velocity of 123 mm/s, and the resolution of the positioning is less than 0.4 μm..
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Submitted on : Thursday, July 26, 2012 - 12:04:48 PM
Last modification on : Thursday, November 12, 2020 - 9:42:05 AM
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  • HAL Id : tel-00720959, version 1


Anne Delettre. Conception, modélisation et commande d'une surface de manipulation sans contact à flux d'air induit.. Micro et nanotechnologies/Microélectronique. Université de Franche-Comté, 2011. Français. ⟨tel-00720959⟩



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