Dynamic modelling of a submerged freeze microgripper using a thermal network

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.

[1]  Alain Delchambre,et al.  A study of capillary forces as a gripping principle , 2004 .

[2]  B. Karpuschewski,et al.  First investigations on force mechanisms in liquid solidification micro-gripping , 2005, (ISATP 2005). The 6th IEEE International Symposium on Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing, 2005..

[3]  J. M. Coulson,et al.  Heat Transfer , 2018, A Concise Manual of Engineering Thermodynamics.

[4]  A. M. Petrina.  Micromanipulation in robotics , 2008, Automatic Documentation and Mathematical Linguistics.

[5]  Bharat Bhushan,et al.  Integrating electrowetting into micromanipulation of liquid droplets , 2008 .

[6]  Zhongwei Jiang,et al.  Micromanipulation using squeeze effect , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[7]  Michaël Gauthier,et al.  A Submerged Freeze Microgripper for Micromanipulations , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[8]  Jing Liu,et al.  Freeze tweezer to manipulate mini/micro objects , 2004 .

[9]  Chan-Woo Moon,et al.  A precision robot system with modular actuators and MEMS micro gripper for micro system assembly , 2008 .

[10]  Kunio Takahashi,et al.  Capillary force with a concave probe-tip for micromanipulation , 2005 .

[11]  A. Louche,et al.  Study of the thermal behaviour of a production unit of concrete structural components , 2004 .

[12]  G. Seliger,et al.  Handling with ice – the cryo‐gripper, a new approach , 1999 .

[13]  Shigeki Saito,et al.  A scheme for micro-manipulation based on capillary force , 2004, Journal of Fluid Mechanics.

[14]  I. Fassi,et al.  Development of a gripping system based on capillary force , 2005, (ISATP 2005). The 6th IEEE International Symposium on Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing, 2005..

[15]  Michaël Gauthier,et al.  Principle of a Submerged Freeze Gripper for Microassembly , 2008, IEEE Transactions on Robotics.

[16]  Stephane Regnier,et al.  Analysis of forces for micromanipulations in dry and liquid media , 2006 .

[17]  Cédric Clévy,et al.  Comparison between micro-objects manipulations in dry and liquid mediums , 2005, 2005 International Symposium on Computational Intelligence in Robotics and Automation.

[18]  Anna Kochan.  European project develops “ice” gripper for micro‐sized components , 1997 .

[19]  George K. Knopf,et al.  Design, kinematic modeling and performance testing of an electro-thermally driven microgripper for micromanipulation applications , 2006 .

[20]  Sang Kug Chung,et al.  3-D manipulation of millimeter- and micro-sized objects using an acoustically excited oscillating bubble , 2009 .

[21]  Quan Zhou,et al.  Hybrid microhandling: a unified view of robotic handling and self-assembly , 2008 .

[22]  F.L. Lewis,et al.  Method for Determining a Dynamical State–Space Model for Control of Thermal MEMS Devices , 2005, Journal of Microelectromechanical Systems.

[23]  Shuxiang Guo,et al.  A new ice gripper based on thermoelectric effect for manipulating micro objects , 2007, 2007 7th IEEE Conference on Nanotechnology (IEEE NANO).

[24]  Jiang Zhe,et al.  A Capillary Microgripper based on Electrowetting , 2008 .

[25]  D. Schmid,et al.  Microchip assembly with capillary gripper , 2006 .

[26]  Francisco Alhama,et al.  Network simulation of the rapid temperature changes in the composite nozzle wall of an experimental rocket engine during a ground firing test , 2003 .

[27]  Michaël Gauthier,et al.  Submerged Freeze Gripper to Manipulate Micro-objects , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[28]  Jing Liu,et al.  A convective cooling enabled freeze tweezer for manipulating micro-scale objects , 2008 .

[29]  Bernhard Karpuschewski,et al.  A classification scheme for quantitative analysis of micro‐grip principles , 2004 .

[30]  M. Tichem,et al.  An Industrial Prototype of a Liquid Solidification Based Micro-Gripping System , 2007, 2007 IEEE International Symposium on Assembly and Manufacturing.

[31]  Joaquín Zueco,et al.  Network model for the numerical simulation of transient radiative transfer process between the thick walls of enclosures , 2006 .

[32]  D.S. Haliyo,et al.  Advanced applications using [mu]MAD, the adhesion based dynamic micro-manipulator , 2003, Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003).

[33]  Quan Zhou,et al.  Simulating adhesion forces between arbitrarily shaped objects in micro/nano-handling operations , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[34]  D. Astrain,et al.  Numerical modelling and a design of a thermoelectric dehumidifier , 2002 .