A submerged freeze microgripper for micromanipulations.

Beatriz Lopez-Walle (1) , Michaël Gauthier (1) , Nicolas Chaillet (1)

1 LAB - Laboratoire d'automatique de Besançon

Efficient, reliable and flexible handling is still very challenging in micromanipulation and micro-assembly. In this paper, we propose an original thermally actuated gripper based on the use of ice to manipulate submerged artificial micro-objects sized under 100 µm. Manipulating in liquid surroundings can indeed be more interesting than in dry conditions. A comparative analysis on the impact of dry and liquid media on surface forces, contact forces and hydrodynamic forces shortly given first shows it. Concerning the use of ice for micromanipulation, cryogenic grippers are a flexible solution. Nevertheless, as they currently work in air, water must be provided by an external device and capillary force occurs during the release. Our submerged freeze microgripper takes advantages of the aqueous surroundings for the handling process as explained. Ther thermal principle, based on the Peltier effect, the characteristics of the microgripper prototype and the first micromanipulation tests are also presented.

Mots clés: micromanipulation

Mots clés: Microgripper; micromanipulation.

Domaines: Micro et nanotechnologies/Microélectronique

Beatriz Lopez-Walle, Michaël Gauthier, Nicolas Chaillet. A submerged freeze microgripper for micromanipulations.. IEEE International Conference on Robotics and Automation. ICRA'2007., Apr 2007, Rome, Italy. pp.826-831. ⟨hal-00162325⟩