Sliding Mode Impedance Controlled Smart Fingered Microgripper for Automated Grasp and Release Tasks at the Microscale

Komati, Bilal; Clevy, Cédric; Lutz, Philippe

doi:10.1007/978-3-030-05931-6_18

Cited by 3 publications

(2 citation statements)

References 25 publications

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“…Adam et al [10] also highlighted the importance to consider force sensors and robots together when doing microrobotic based force sensing while Govillas et al [11] shown the strong influence of angular imperfections during compression tests. Specific strategies can also be investigated based on accurate force and or position dynamic measurement to succeed in achieving complex tasks at the microscale [12,13].…”

Section: Introductionmentioning

confidence: 99%

In-situ SEM Microrobotics for Versatile Force/Deformation Characterization: Application to Third-Body MoS2 Wear Particles

Hannouch,

Reynaud,

Colas

et al. 2024

Preprint

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Purpose: This article explores the challenges and solutions in the physical characterization of materials at the microscale using robots, with a specific focus on manipulating and characterizing micrometer-sized particles with different and complex 3D shapes and internal sub-micrometer structures. Particles considered as case-study in this paper are made of Molybdenum diSulfide (MoS2) based materials generated within the contact interface during friction. These particles are of high interest for friction reduction and energy saving, but they are dispersed randomly inside the contact and have complex sub-micrometer structures. Methods: Characterization demands precise manipulation techniques in an in-situ Scanning Electron Microscope(SEM) environment. To address these challenges, existing commercial micro and nanomanipulation tools are integrated within a vacuum SEM chamber, and robotics strategies are investigated to enable the whole process from particle preparation, and manipulation setup definition, to effective MoS2 particle characterization all in-situ SEM. Results: A set of several complementary experimental investigations are done and involve force measurement and deformation estimation studies, leading to the first qualitative results on MoS2 based particles directly from the friction track. The work contributes to advancements in both microscale manipulation and characterization. It also has implications for lubrication research.

show abstract

Section: Introductionmentioning

confidence: 99%

In-situ SEM Microrobotics for Versatile Force/Deformation Characterization: Application to Third-Body MoS2 Wear Particles

Hannouch,

Reynaud,

Colas

et al. 2024

Preprint

View full text Add to dashboard Cite

show abstract

“…This capability has been demonstrated as a key interest for the manipulation of biological objects as well as for manufactured microstructures [ 19 ]. Moreover, such force sensing enables implementing original robotic strategies that strengthen flexible decision making against an unknown environment [ 20 ].…”

Section: Introductionmentioning

confidence: 99%

A Two-Axis Piezoresistive Force Sensing Tool for Microgripping

Tiwari

Billot

Clevy

et al. 2021

Sensors

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Force sensing has always been an important necessity in making decisions for manipulation. It becomes more appealing in the micro-scale context, especially where the surface forces become predominant. In addition, the deformations happening at the very local level are often coupled, and therefore providing multi-axis force sensing capabilities to microgripper becomes an important necessity. The manufacturing of a multi-axis instrumented microgripper comprises several levels of complexity, especially when it comes to the single wafer fabrication of a sensing and actuation mechanism. To address these requirements, in this work, an instrumented two-axis force sensing tool is proposed, which can then be integrated with the appropriate actuators for microgripping. Indeed, based on the task, the gripper design and shape requirements may differ. To cover wide needs, a versatile manufacturing strategy comprising of the separate fabrication of the passive and sensing parts was especially investigated. At the microscale, signal processing brings additional challenges, especially when we are dealing with multi-axis sensing. Therefore, a proper device, with efficient and appropriate systems and signal processing integration, is highly important. To keep these requirements in consideration, a dedicated clean-room based micro-fabrication of the devices and corresponding electronics to effectively process the signals are presented in this work. The fabricated sensing part can be assembled with wide varieties of passive parts to have different sensing tools as well as grippers. This force sensing tool is based upon the piezoresistive principle, and is experimentally demonstrated with a sensing capability up to 9 mN along the two axes with a resolution of 20 μN. The experimental results validate the measurement error within 1%. This work explains the system design, its working principle, FEM analysis, its fabrication and assembly, followed by the experimental validation of its performance. Moreover, the use of the proposed sensing tool for an instrumented gripper was also discussed and demonstrated with a micrograsping and release task.

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In-situ SEM microrobotics for versatile force/deformation characterization: application to third-body $$MoS_2$$ wear particles

Hannouch,

Reynaud,

Colas

et al. 2024

J Micro-Bio Robot

View full text Add to dashboard Cite

This article explores the challenges and solutions in the physical characterization of materials at the microscale using robotized systems, with a specific focus on manipulating and characterizing micrometer-sized particles with different and complex 3D shapes and internal sub-micrometer structures. In this paper, the studied particles are Molybdenum diSulfide (MoS2) based materials generated within the contact interface during friction. These particles are being studied because they offer a particularly promising solution for reducing mechanical friction and the associated high energy losses. However, they are distributed randomly within the contact area and possess intricate sub-micrometer structures. Characterization demands precise manipulation techniques in an in-situ Scanning Electron Microscope(SEM) environment. To address these challenges, existing commercial micro and nanomanipulation tools are integrated within a vacuum SEM chamber, and robotics strategies are investigated to enable the whole process from particle preparation, and manipulation setup definition, to effective MoS$$_2$$ 2 particle characterization all in-situ SEM. A set of several complementary experimental investigations are done and involve force measurement and deformation estimation studies, leading to the first qualitative results on MoS$$_2$$ 2 based particles directly from the friction track. The work contributes to advancements in both microscale manipulation and characterization. It also has implications for lubrication research.

show abstract

Sliding Mode Impedance Controlled Smart Fingered Microgripper for Automated Grasp and Release Tasks at the Microscale

Cited by 3 publications

References 25 publications

In-situ SEM Microrobotics for Versatile Force/Deformation Characterization: Application to Third-Body MoS2 Wear Particles

In-situ SEM Microrobotics for Versatile Force/Deformation Characterization: Application to Third-Body MoS2 Wear Particles

A Two-Axis Piezoresistive Force Sensing Tool for Microgripping

In-situ SEM microrobotics for versatile force/deformation characterization: application to third-body $$MoS_2$$ wear particles

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