Contribution à la micromanipulation robotisée : un système de changement d'outils automatique pour le micro-assemblage

摘要

Micromanipulation tasks, transfer and assembly of very small objets are<br />among the main issues of micro-robotics. Micromanipulation deals with the<br />manipulation of objects with 1 micrometer to 1 mm in size and requires a<br />positioning accuracy in regard with the considered dimensions. Micro-assembly<br />consists in a sequence of elementary tasks leading to the production of<br />micro-components composed of single parts. Manipulating each of these parts<br />requires to use dedicated effectors, adapted to their particularities<br />(geometry, dimensions, mechanical properties). To perform a micro-assembly<br />process, several different tools have to be used successively.<br /><br /><br /><br />In this aim, a micromanipulation station has been developped. It is composed of<br />a microgripper fixed at the tip of a three degrees of freedom manipulator. A<br />new system allowing the exchange of the tip part of the microgripper (i.e. the<br />tools) has particularly been studied and designed. This system enables to fix<br />alternatively the tools either at the tip of the actuator of the microgripper<br />or in a magazine. The principle of this system is based on the used of a<br />thermal glue that can be liquefied by heating or solidified by cooling down.<br /><br /><br /><br />This tools changer brings flexibility to the micromanipulation station and<br />enables to perform micro-assembly tasks in confined spaces such as in the<br />vacuum chamber of a scanning electron microscope. A compliant work plane has<br />also been designed to reduce competing forces during micromanipulation tasks.<br />It also permits to increase the chances of success for delicate operations.