%0 Conference Proceedings
%T Improvement of Robotic Micromanipulations Using Chemical Functionalisations
%+ Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174) (FEMTO-ST)
%A Dejeu, Jérôme
%A Rougeot, Patrick
%A Gauthier, Michaël
%A Boireau, Wilfrid
%< avec comité de lecture
%( IFIP Advances in Information and Communication Technology
%B 5th IFIP WG 5.5 International Precision Assembly Seminar (IPAS)
%C Chamonix, France
%Y Svetan Ratchev
%I Springer
%3 Precision Assembly Technologies and Systems
%V AICT-315
%P 215-221
%8 2010-02-14
%D 2010
%R 10.1007/978-3-642-11598-1_25
%K Microhandling
%K Surface functionalisation
%K Aminosilane
%K Adhesion
%K Pull-off forces
%Z Computer Science [cs]/Digital Libraries [cs.DL]Conference papers
%X 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.
%G English
%2 https://inria.hal.science/hal-01055682/document
%2 https://inria.hal.science/hal-01055682/file/Paper_16_-_DEJEU.pdf
%L hal-01055682
%U https://inria.hal.science/hal-01055682
%~ CNRS
%~ UNIV-FCOMTE
%~ UNIV-BM
%~ ENSMM
%~ FEMTO-ST
%~ UNIV-BM-THESE
%~ IFIP
%~ IFIP-AICT
%~ IFIP-AICT-315
%~ IFIP-TC
%~ IFIP-TC5
%~ IFIP-WG
%~ IFIP-WG5-5
%~ IFIP-IPAS
%~ IFIP-2010