Abstract
Robotic microhandling is disturbed by the adhesion phenomenon between the micro-object and the grippers. This phenomenon is directly linked to both the object and the gripper surface chemical composition. We propose to control adhesion by using chemical self-assembly monolayer (SAM) on both surfaces. Previous distance-force measurements done with AFM have shown that the liquid pH can be used to modify the adhesion and created repulsive force between the gripper fingers and the micro-objet. This paper shows the correlation between the force distance distance measurements and the micromanipulation tasks using chemically functionalized grippers.
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Dejeu, J., Rougeot, P., Gauthier, M., Boireau, W. (2010). Improvement of Robotic Micromanipulations Using Chemical Functionalisations. In: Ratchev, S. (eds) Precision Assembly Technologies and Systems. IPAS 2010. IFIP Advances in Information and Communication Technology, vol 315. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-11598-1_25
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DOI: https://doi.org/10.1007/978-3-642-11598-1_25
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-11597-4
Online ISBN: 978-3-642-11598-1
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