Étude et développement de robots parallèles à plateformes configurables pour la micromanipulation dextre

Abstract : The objective of this thesis is the development of new robots that combine dexterity, compactness and precision to perform complex micromanipulation tasks in confined environments. Thus, two parallel robotic structures have been developed. The first is a wrist that can insure 4 degrees of freedom (DOF) in rotation and the second is a redundant robot with 7 DOF. Both structures integrate the grasping function thanks to a configurable platform and a deported actuation. The kinematic study of the two robots and the experimental results validating the two architectures are presented. To miniaturize the 7 DOF robot, the mechanical joints (spherical) have been replaced by elastomeric articulations (PDMS). This solution allows, among others, to eliminate the mechanical backlash in the joints while keeping a large range of movements. However, as the behavior of such joints does not correspond perfectly to spherical joints, a model for the robot taking into account the elastic behavior of these joints has been developed. In order to made the structure on the desired scale (the cross sectional side of its legs and connections are 400 µm), a new microfabrication process in the clean room has been developed. Unlike the existing methods, the new process reduces the number of etching steps and allow the integration of different types of elastomers into silicon robotic microstructures. Finally, the micro-robot was realized and the displacement capacities in the 6 DOF with the grasping were validated. The targeted applications by the developed robots in this thesis are micro / nano-assembly, manipulation of biological cells and minimally invasive surgery, particularly in neurosurgery.
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Submitted on : Wednesday, May 29, 2019 - 5:47:36 PM
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Wissem Haouas. Étude et développement de robots parallèles à plateformes configurables pour la micromanipulation dextre. Automatique / Robotique. Université Bourgogne Franche-Comté, 2018. Français. ⟨NNT : 2018UBFCD048⟩. ⟨tel-02144046⟩



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