Future developments in micromanufacturing will require advances in micromanipulation tools. Several robotic micromanipulation methods have been developed to position micro-objects mostly in air and in liquids. The air-water interface is a third medium where objects can be manipulated, offering a good compromise between the two previously mentioned ones. Objects at the interface are not subjected to stick-slip due to dry friction in air and profit from a reduced drag compared with those in water. Here, we present the ThermoBot, a microrobotic platform dedicated to the manipulation of objects placed at the air-water interface. For actuation, ThermoBot uses a laser-induced thermocapillary flow, which arises from the surface stress caused by the temperature gradient at the fluid interface. The actuated objects can reach velocities up to 10 times their body length per second without any on-board actuator. Moreover, the localized nature of the thermocapillary flow enables the simultaneous and independent control of multiple objects, thus paving the way for microassembly operations at the air-water interface. We demonstrate that our setup can be used to direct capillary-based self-assemblies at this interface. We illustrate the ThermoBot’s capabilities through three examples: simultaneous control of up to four spheres, control of complex objects in both position and orientation, and directed self-assembly of multiple pieces.

The thermocapillary effect, arising flow due to a temperature gradient along a fluid interface, is the dominant effect in some industrial and microfluidic processes and must be studied in order to optimize them. In this work, we analyze how insoluble surfactants adsorbed at the interface can affect such a flow. In particular, we analyze the case where the thermocapillary flow is induced at the air-water interface by locally heating it with an infrared laser, setup that is used to manipulate floating particles through the generated flow.Since water is a polar fluid, the air-water interface is easily polluted by surfactants. We developed a numerical model considering the uncontrolled presence of surfactants, which evidences that the effect of the surface contamination cannot be neglected, even for small surfactants concentration. The results of this numerical model were compared with different experimental measurements: particle tracking velocimetry, convection cell radius measurements and thermography of the surface. All the experimental observations agree with the numerical model with the initial surface contamination being a fitting parameter. The model was then validated comparing its results with measurements for which a known quantity of surfactant was added to the interface. Finally, an analytical model was developed to explain the effects of the governing parameters, which agrees with the simulations and the experimental results. The developed models give us insights towards the miniaturization of the manipulation platform.