Wissem HAOUAS : " Study and development of parallel robots..."

Wissem HAOUAS thesis work : "Study and development of parallel robots with configurable platforms for dextral micromanipulation"

Abstract : The objective of this thesis is the development of new robots that combine dexterity, compactness and precision toperform complex micromanipulation tasks in confined environments. Thus, two parallel robotic structures have beendeveloped. The first is a wrist that can insure 4 degrees of freedom (DOF) in rotation and the second is a redundant robotwith 7 DOF. Both structures integrate the grasping function thanks to a configurable platform and a deported actuation.The kinematic study of the two robots and the experimental results validating the two architectures are presented. To miniaturize the 7 DOF robot, the mechanical joints (spherical) have been replaced by elastomeric articulations (PDMS).This solution allows, among others, to eliminate the mechanical backlash in the joints while keeping a large range of movements. However, as the behavior of such joints does not correspond perfectly to spherical joints, a model for the robot taking into account the elastic behavior of these joints has been developed. In order to made the structure on the desired scale (the cross sectional side of its legs and connections are 400 µm), a new microfabrication process in the cleanroom has been developed. Unlike the existing methods, the new process reduces the number of etching steps and allowthe integration of different types of elastomers into silicon robotic microstructures. Finally, the micro-robot was realizedand the displacement capacities in the 6 DOF with the grasping were validated. The targeted applications by thedeveloped robots in this thesis are micro / nano-assembly, manipulation of biological cells and minimally invasive surgery,particularly in neurosurgery.

Members of jury :

- M. Guillaume LAURENT, MCF ENSMM, Institut FEMTO-ST Directeur de thèse,

- M. SÉBASTIEN BRIOT Chargé de Recherche CNRS, LS2N Rapporteur,

- M. PIERRE RENAUD Professeur INSA, ICube Rapporteur,

- M. FRANÇOIS PIERROT Directeur de Recherche CNRS, LIRMM Examinateur,

- M. CLÉMENT GOSSELIN Professeur Université Laval, Québec Examinateur,

- Mme NADINE PIAT Professeur ENSMM, Institut FEMTO-ST Examinateur,

- M. REDWAN DAHMOUCHE Maître de Conférences Université de Franche-Comté, Institut FEMTO-ST CoDirecteur de thèse,

- M. Joël AGNUS Ingénieur de Recherche Institut FEMTO-ST Examinateur

Localisation : Amphithéâtre Jules Haag - 26, Rue de l'Epitaphe - 25000 Besançon