Microrobotics for Micromanipulation

Inbunden, Engelska, 2010

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Microrobotics is an emerging and booming area with many and various applications, including in fields such as industrial/manufacturing robotics, medical robotics, and laboratory instrumentation. Microrobotics for Micromanipulation presents for the first time, in detail, a treatment of the field of robotics dedicated to handling objects of micrometer dimensions. At these dimensions, the behavior of objects is significantly different from the better known, larger scales, which leads to implementation techniques that can be radically different from the more commonly used solutions. This book details the behaviors of objects at the micrometer scale and provides robotics solutions that are suitable, in terms of actuators, grippers, manipulators, environmental perception, and microtechnology. Worked examples are included in the book - enabling engineers, students and researchers to familiarize themselves with this emerging area and to contribute to its development.

Produktinformation

Utgivningsdatum2010-06-11
Mått163 x 241 x 33 mm
Vikt875 g
FormatInbunden
SpråkEngelska
Antal sidor484
FörlagISTE Ltd and John Wiley & Sons Inc
ISBN9781848211865

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Elektronik och kommunikationer inom Naturvetenskap och teknik

Nicolas Chaillet is Professor at the University of Franche-Comté and conducts research at the Institut Femto-ST. His research interests are in microrobotics and more generally in micromechatronics fields, particularly in micromanipulation and microassembly, microgrippers, smart materials, modeling and control of microactuators. Stéphane Régnier is Professor at the Institute of Intelligent Systems and Robotics (ISIR), Pierre and Marie Curie University, Paris, France. He has been head of the micromanipulation team at ISIR since 2001. His research interests are focused on micro and nanomanipulation, tele-operation and haptic feedback at the nanoscale, micromechatronics and biological cell characterization.

Foreword xviiIntroduction xxiChapter 1. The Physics of the Microworld 1Michael GAUTHIER, Pierre LAMBERT and Stephane REGNIER1.1. Introduction 11.2.Details of the microworld 41.3.Surface forces 81.4.Contact forces 401.5. Experimental analysis of forces for micromanipulation 481.6.Forces in liquidmedia 601.7. Friction and roughness 781.8.Relevant parameters and indicators 851.9.Exercises 881.10.List of symbols 95Chapter 2. Actuators for Microrobotics 99Nicolas CHAILLET, Moustapha HAFEZ and Pierre LAMBERT2.1. Introduction 992.2.Principles of motion and guiding 1002.3.Classification of actuators 1112.4.Piezoelectric actuators 1132.5.Electrostatic actuators 1262.6.Thermal actuators 1412.7.Electro-activepolymers 1602.8.Magneto-/electrorheologicalfluids 1652.9.Summary 1702.10.Suppliers of active materials 1702.11.Exercises 173Chapter 3. Microhandling and Micromanipulation Strategies 179Michael GAUTHIER, Pierre LAMBERT and Stephane REGNIER3.1. Introduction 1793.2. Contact-free micromanipulation and positioning 1803.3. Contact-based micromanipulation and positioning 1973.4.Release strategies 2203.5.Summary 2303.6.Conclusion 2343.7.Exercises 234Chapter 4. Architecture of a Micromanipulation Station 243Joel AGNUS, Mehdi BOUKALLEL, Cedric CLEVY, Sounkalo DEMBELE and Stephane REGNIER4.1. Introduction 2434.2.Kimenatics 2444.3.Visual perception 2614.4.Force sensing 2834.5. Introduction to sensor-based linear multivariable control 2944.6. Application to automation and remote operation for micromanipulation tasks 3004.7.Environmental control 3184.8.Applications 3244.9.Conclusion 3344.10.Exercises 334Chapter 5. Microtechnologies and Micromanipulation 335Lionel BUCHAILLOT5.1. Silicon surface machining processes 3355.2.Early demonstrators 3435.3. Standard processes and fabrication examples 3465.4.Alternative surface machining processes 3525.5.Co-integrationwith electronics 3565.6.Consistency of surface micromachining 3605.7.Conclusion 367Chapter 6. Future Prospects 369Philippe LUTZ and Stephane REGNIER6.1.Micromachining 3696.2.Nanomanipulation 395Chapter 7. Solutions to Exercises 4157.1.Chapter 1 4157.2.Chapter 2 4237.3.Chapter 3 4297.4.Chapter 4 443Bibliography 447List of Authors 481Index 483