DocumentCode :
2520707
Title :
Dynamic modelling of a submerged freeze microgripper using a thermal network
Author :
Walle, Beatriz López ; Gauthier, Michaël ; Chaillet, Nicolas
Author_Institution :
UMR CNRS 6596-ENSMM-UFC, Besancon
fYear :
2007
fDate :
4-7 Sept. 2007
Firstpage :
1
Lastpage :
6
Abstract :
Manipulating micro-objects whose typical size is under 100 mum becomes an interesting research topic for micro-assembly applications. A comparative analysis of dry and liquid media impacts on surface forces, contact forces and hydro dynamic forces showed that performing manipulation and assembly in liquid surroundings can indeed be more efficient than in dry conditions. We propose a thermal based micromanipulator designed to operate completely submerged in an aqueous medium. The handling principle and the advantages of our proposed submerged freeze microgripper against air working cryogenic grippers are first described. Then, the thermal principle based on Peltier effect, the characteristics of the prototype, and its first micromanipulation tests are reported. In order to manage the heat exchanges in the microgripper, a dynamic thermal model using electrical analogy has been developed for a 3D heat sink of the microgripper. Its validation is presented in the last section. Further works will be focused on the characterization of all the parameters and its experimental validation.
Keywords :
Peltier effect; grippers; heat transfer; manipulator dynamics; micromanipulators; temperature control; 3D heat sink; Peltier effect; air working cryogenic grippers; aqueous medium; contact force; dry media; dynamic thermal model; heat exchange management; hydrodynamic force; liquid media; liquid surrounding; microassembly application; microobject manipulation; submerged freeze microgripper; surface force; thermal network; thermal principle; Assembly; Cryogenics; Grippers; Heat sinks; Manipulator dynamics; Micromanipulators; Performance analysis; Resistance heating; Thermal management; Thermoelectricity;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4244-1263-1
Electronic_ISBN :
978-1-4244-1264-8
Type :
conf
DOI :
10.1109/AIM.2007.4412442
Filename :
4412442
Link To Document :
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