Modeling, Identification and Control of a Thermal glue based temporary fixing system : Application to the Micro-Robotic field.

Cédric Clévy (1) , Arnaud Hubert (1) , Nicolas Chaillet (1)

1 LAB - Laboratoire d'automatique de Besançon

The purpose of this paper is to present a temporary fixing system based on a thermal glue that is well-adapted to micro-robotics. In the paper, ths system is used to design a tool changer but can be generalized to other micro-robotic applications. A thermal modeling and an identification procedure are presented to propose a strategy to control the system. This system takes place into a micromanipulation station to gain flexibility, space and complexity. Indeed, to perform sequences of micromanipulation tasks (i.e. micro-assembly sequences), only one manipulator, able to use sequentially several end-effectors, has to be used instead of several dedicated to one specific task.

Domaines: Micro et nanotechnologies/Microélectronique

Cédric Clévy, Arnaud Hubert, Nicolas Chaillet. Modeling, Identification and Control of a Thermal glue based temporary fixing system : Application to the Micro-Robotic field.. ICRA'06, May 2006, France. pp.1042-1047. ⟨hal-00331578⟩