Microrobotics for Micromanipulation
1st Edition
Will be published approx. on 11. June 2010
Book
Hardback
508 pages
978-1-84821-186-5 (ISBN)
Description
Microrobotics for Micromanipulation presents for the first time, in detail, the sector of robotics for handling objects of micrometer dimensions. At these dimensions, the behavior of objects is significantly different from the better known, higher scales, which leads us to implement solutions sometimes radically different from those most commonly used. This book details the behavior of objects at the micrometer scale and suitable robotics solutions, in terms of actuators, grippers, manipulators, environmental perception and microtechnology. This book includes corrected exercises, enabling engineers, students and researchers to familiarize themselves with this emerging area and to contribute to its development through scientific measures.
More details
Product info
GB
Edition
1., Auflage
Language
English
Place of publication
London
United Kingdom
Target group
Professional and scholarly
Product notice
sewn/stitched
Paper over boards
Dimensions
Height: 236 mm
Width: 157 mm
Thickness: 25 mm
Weight
680 gr
ISBN-13
978-1-84821-186-5 (9781848211865)
Schweitzer Classification
Other editions
Additional editions
Nicolas Chaillet | Stéphane Régnier
Microrobotics for Micromanipulation
E-Book
03/2013
Wiley-ISTE
€207.99
Available for download
Nicolas Chaillet | Stéphane Régnier
Microrobotics for Micromanipulation
E-Book
03/2013
Wiley-ISTE
€207.99
Available for download
Persons
Nicolas Chaillet is Professor at the University of Franche-Comte 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.
Stephane Regnier 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.
Stephane Regnier 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.
Content
Foreword xvii
Introduction xxi
Chapter 1. The Physics of the Microworld 1
Michael GAUTHIER, Pierre LAMBERT and Stephane REGNIER
1.1. Introduction 1
1.2.Details of the microworld 4
1.3.Surface forces 8
1.4.Contact forces 40
1.5. Experimental analysis of forces for micromanipulation 48
1.6.Forces in liquidmedia 60
1.7. Friction and roughness 78
1.8.Relevant parameters and indicators 85
1.9.Exercises 88
1.10.List of symbols 95
Chapter 2. Actuators for Microrobotics 99
Nicolas CHAILLET, Moustapha HAFEZ and Pierre LAMBERT
2.1. Introduction 99
2.2.Principles of motion and guiding 100
2.3.Classification of actuators 111
2.4.Piezoelectric actuators 113
2.5.Electrostatic actuators 126
2.6.Thermal actuators 141
2.7.Electro-activepolymers 160
2.8.Magneto-/electrorheologicalfluids 165
2.9.Summary 170
2.10.Suppliers of active materials 170
2.11.Exercises 173
Chapter 3. Microhandling and Micromanipulation Strategies 179
Michael GAUTHIER, Pierre LAMBERT and Stephane REGNIER
3.1. Introduction 179
3.2. Contact-free micromanipulation and positioning 180
3.3. Contact-based micromanipulation and positioning 197
3.4.Release strategies 220
3.5.Summary 230
3.6.Conclusion 234
3.7.Exercises 234
Chapter 4. Architecture of a Micromanipulation Station 243
Joel AGNUS, Mehdi BOUKALLEL, Cedric CLEVY, Sounkalo DEMBELE and Stephane REGNIER
4.1. Introduction 243
4.2.Kimenatics 244
4.3.Visual perception 261
4.4.Force sensing 283
4.5. Introduction to sensor-based linear multivariable control 294
4.6. Application to automation and remote operation for micromanipulation tasks 300
4.7.Environmental control 318
4.8.Applications 324
4.9.Conclusion 334
4.10.Exercises 334
Chapter 5. Microtechnologies and Micromanipulation 335
Lionel BUCHAILLOT
5.1. Silicon surface machining processes 335
5.2.Early demonstrators 343
5.3. Standard processes and fabrication examples 346
5.4.Alternative surface machining processes 352
5.5.Co-integrationwith electronics 356
5.6.Consistency of surface micromachining 360
5.7.Conclusion 367
Chapter 6. Future Prospects 369
Philippe LUTZ and Stephane REGNIER
6.1.Micromachining 369
6.2.Nanomanipulation 395
Chapter 7. Solutions to Exercises 415
7.1.Chapter 1 415
7.2.Chapter 2 423
7.3.Chapter 3 429
7.4.Chapter 4 443
Bibliography 447
List of Authors 481
Index 483
Introduction xxi
Chapter 1. The Physics of the Microworld 1
Michael GAUTHIER, Pierre LAMBERT and Stephane REGNIER
1.1. Introduction 1
1.2.Details of the microworld 4
1.3.Surface forces 8
1.4.Contact forces 40
1.5. Experimental analysis of forces for micromanipulation 48
1.6.Forces in liquidmedia 60
1.7. Friction and roughness 78
1.8.Relevant parameters and indicators 85
1.9.Exercises 88
1.10.List of symbols 95
Chapter 2. Actuators for Microrobotics 99
Nicolas CHAILLET, Moustapha HAFEZ and Pierre LAMBERT
2.1. Introduction 99
2.2.Principles of motion and guiding 100
2.3.Classification of actuators 111
2.4.Piezoelectric actuators 113
2.5.Electrostatic actuators 126
2.6.Thermal actuators 141
2.7.Electro-activepolymers 160
2.8.Magneto-/electrorheologicalfluids 165
2.9.Summary 170
2.10.Suppliers of active materials 170
2.11.Exercises 173
Chapter 3. Microhandling and Micromanipulation Strategies 179
Michael GAUTHIER, Pierre LAMBERT and Stephane REGNIER
3.1. Introduction 179
3.2. Contact-free micromanipulation and positioning 180
3.3. Contact-based micromanipulation and positioning 197
3.4.Release strategies 220
3.5.Summary 230
3.6.Conclusion 234
3.7.Exercises 234
Chapter 4. Architecture of a Micromanipulation Station 243
Joel AGNUS, Mehdi BOUKALLEL, Cedric CLEVY, Sounkalo DEMBELE and Stephane REGNIER
4.1. Introduction 243
4.2.Kimenatics 244
4.3.Visual perception 261
4.4.Force sensing 283
4.5. Introduction to sensor-based linear multivariable control 294
4.6. Application to automation and remote operation for micromanipulation tasks 300
4.7.Environmental control 318
4.8.Applications 324
4.9.Conclusion 334
4.10.Exercises 334
Chapter 5. Microtechnologies and Micromanipulation 335
Lionel BUCHAILLOT
5.1. Silicon surface machining processes 335
5.2.Early demonstrators 343
5.3. Standard processes and fabrication examples 346
5.4.Alternative surface machining processes 352
5.5.Co-integrationwith electronics 356
5.6.Consistency of surface micromachining 360
5.7.Conclusion 367
Chapter 6. Future Prospects 369
Philippe LUTZ and Stephane REGNIER
6.1.Micromachining 369
6.2.Nanomanipulation 395
Chapter 7. Solutions to Exercises 415
7.1.Chapter 1 415
7.2.Chapter 2 423
7.3.Chapter 3 429
7.4.Chapter 4 443
Bibliography 447
List of Authors 481
Index 483