Jean-Claude Guinot

[mü]MAD, the adhesion based dynamic micro-manipulator

In this paper, a micro-manipulation method based on adhesion forces and dynamic effects is proposed. A prototype manipulator, called [mu]MAD, has been constructed and successfully experimented. Moreover, the advanced capabilities of [mu]MAD, especially two new interesting applications, are presented: sorting of micro-objects and mechanical characterizations.

Simulation of micro-manipulations: Adhesion forces and specific dynamic models

Abstract Aiming at achieving precise micromanipulations using only adhesion forces, the three main sticking effects on a microscale are considered. On the hypothesis that Newton’s laws are applicable at this scale, dynamic models of a simple task, consisting in picking up and placing micro-spheres, are proposed. Three models of capture are written, introducing Van der Waals, capillary, electrostatic, rubbing and pull-off forces. A complete model of the release is also proposed. The capture and release tasks were dissociated and simulated. Some strong conclusions guaranteeing the manipulation by adhesion were extracted on materials of each part of the system, on the size of the spheres and on the speed limits applied to the end-effector.

Dynamical model for the micro-manipulation by adhesion: experimental validations for determined conditions

Micro-manipulationsrequire knowledge and control of micro-contactmechanics phenomena. This paper proposes a study of the sticking effects at the microscopic scale for micro-objectsmanipulation purpose. The predominance of adhesion forces at the considered scale is used to achieve manipulation solely based on adhesion. The theoretical study is developed on a canonical problem (manipulation of micro-spheres). A dynamical modeling of the task is proposed. Simulations highlight a ‘technological window’ allowing micromanipulation by adhesion. To validate the theoretical approach, we develop an experimental set-up. First experiments of manipulation of silicon chips, glass micro-spheres and of a tin disc are illustrated as conclusion.

Quadrupedal mammal locomotion dynamics 2D model

Making a quadrupedal robotic machine walk is a problem with an infinity of solutions. Nevertheless, this question seems to have been solved successfully by mammals. Hence a particular approach in the design of walking robots has been considered, based on the animals movement characteristics. Indeed, studying animal walking can help produce a class of solutions towards the definition of quadrupedal robots. From this starting point, a model can be created according to a reduced number of criteria, notably the shape of the trajectory followed by the ankle or wrist during motion relatively to the hip or to the shoulder respectively. The problem lies in the difficulty to extract significant and valuable information from the mere observation of animals walking. This paper presents an experiment designed to extract angular variations data from the observation of a walking hedgehog and the use of these data to create a 2D dynamical simulation model to be used as an analysis basis.

A Distributed SMA Actuator System and Associated Self-Guiding Control Strategy for a Scalable Endoscope Steering Device

This paper describes an original active steering device for endoscopes and boroscopes. Its mechanical structure is based on a tubular hyper-redundant mechanism. Distributed SMA actuators with their own local controller are integrated in this structure for producing bending forces in reaction to the interaction detected between the instrument and its environment. The SMA actuators are two thin NiTi springs in an antagonist configuration. Joint actuation relies on martensite/austenite phase transformation in NiTi alloys. The global behavior of the endoscope is controlled through a multi-agent approach.

An overview of the micro-manipulation system (m ¨ u)MAD

The micro-manipulation system developed in Lab- oratoire de Robotique de Paris (LRP) is described in this paper. This system, called (m ¨ u)MAD, is based on the use of adhesion forces and inertial effects for handling of objects which range from 1 to 100 µm. Moreover, enhanced user interaction is provided through a 6 dof haptic interface for force feedback remote handling. Some advanced features of (m ¨ u)MAD such as mechanical characterizations and sorting are also presented.

Manipulation of Micro-objects using Adhesion Forces and Dynamical Effects in Unconstrained Environment

This paper describes a dynamical strategy for releasing objects picked-up by means of adhesion forces. Indeed, if sticking effects are used in order to capture an object by adequately choosing a high surface energy constitutive material for the end-effector, these same effects handicap considerably the release. We propose to take advantage of the inertial effects of the end-effector and the manipulated object to overbalance adhesion forces and to achieve the release. For this purpose, accelerations as high as 105 m/s 2 are needed. Successful manipulation of a 40μm radius glass sphere is presented.

Microrobotique : modèle dynamique et loi horaire pour une micromanipulation par adhésion

The emergence of new microtechnologies to be used in micro-world applications raises an increasing interest in micro-scale manipulations. 3D assembling of micro-machines by means of contacts and bonds between pieces of different materials and geometries is an example of the new challenge in micro-systems. Micro-scale manipulations imply a knowledge and control of micro-contact mechanics phenomena. Our aim is to understand the mechanical phenomenon at the micro-scale level, to anticipate the manipulation by increasing or decreasing the sticking effect and to define and develop new manipulation skills using adhesion. Thus, a dynamic model of a micro-manipulation is presented and some simulations are discussed.

Application for a manipulator-gripper in an assembly cell

Recent advances in robotics research show that applications of robot manipulators to complex assembly problems require the use of an intelligent terminal to generate compliant micro-motions. A new approach for complex assembly tasks consisting in the use of a manipulator-gripper, like a left hand, is presented here. Previous works have been concerned with the analysis and development of the manipulator-gripper to grip and manipulate objects of various shapes, and control grasp and contact forces. Experiments are being carried out to correct small variations in the relative position and orientation of assembly parts require further development towards high-level programming system.