Modeling, identification and control of a thermal glue-based temporary fixing system: application to the micro-robotic field

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, this 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