Open loop control of dielectrophoresis non contact manipulation

Author

Gauthier, Michael ; Kharboutly, Mohamed ; Chaillet, N.

Author_Institution

AS2M Dept., UFC/ENSMM/UTBM, Besancon, France

fYear

2012

fDate

29-31 Oct. 2012

Firstpage

1

Lastpage

2

Abstract

The framework of this paper is the study of “No Weight Robots-NWR” that use non-contact transmission of movement (e.g. dielectrophoresis) to manipulate micro-objects enabling significant throughput (1Hz). Dielectrophoresis (DEP) is currently used to separate, manipulate and detect micro particles in several domains with high speed and precision, such as in biological cell or Carbon Nano-Tubes (CNTs) manipulations. A dielectrophoresis system can also be considered as a robotic system whose inputs are the voltages of the electrodes and output is the object trajectory. This “No Weight Robots” enables the positionning of the manipulted object in a 3D space. This paper is summarized the modeling principle of this new type of robots and some first results on trajectory control in 2D space.

Keywords

electrophoresis; manipulator dynamics; micromanipulators; object detection; open loop systems; trajectory control; 2D space; 3D space; DEP; dielectrophoresis noncontact manipulation; dielectrophoresis system; electrodes; manipulted object positionning; micro-object manipulation; microparticle detection; microparticle manipulation; no weight robots; noncontact movement transmission; open loop control; robotic system; trajectory control; Dielectrophoresis; Electrodes; Mathematical model; Open loop systems; Service robots; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Optomechatronic Technologies (ISOT), 2012 International Symposium on

Conference_Location

Paris

Print_ISBN

978-1-4673-2875-3

Type

conf

DOI

10.1109/ISOT.2012.6403234

Filename

6403234