Objectives and competences
The objective of this course is to acquaint students with control concepts of micro and nanorobotic systems with focus to design of grippers for micro and nano particles and building of micro-sized objects.
Content (Syllabus outline)
• Introduction: definition of nanotechnology, nanomaterials, nanotubes, definition of microrobotics and nanorobotics, presentation of basic physical laws, describing the electric field, presentation of dynamics of a mechanical drive, presentation of forces which affects the micro and nano particles in space.
• Microrobot: piezoelectric actuator, design and production of a micromanipulator mechanism, design of a microrobot system, measurement of a microrobot tip with a computer vision, measurement of a microrobot tip with an incremental linear encoder, control of a micromanipulator in the closed control loop.
• Nanorobot: design and production of a nanomanipulator, production of a nanorobot system, measurement of a nanorobot tip with an incremental linear encoder, control of a nanomanipulator in the position closed control loop.
• Grippers for micro robots and nanorobots: design and production of piezoelectric driven two-finger mikrogrippers with microstructured glass or polymers, design and production of pneumatic grippers with glass microtubes, a gripper with matrix of glass microtubes, termal two-finger gripper, dielectrophoresys grippers, grippers based on the van der Waals force, grippers based on capillary force.
• Microfluidic rotary motor: overview of various techniques and designs, microfluidic rotary motor, design, implementation and control, performance analysis.
• Micro force measurement: overview, method of measuring attractive force with a flexible traverse, design and implementation, surface characterization of nano and micro particles.
Learning and teaching methods
• Lectures
• Laboratory work
Intended learning outcomes - knowledge and understanding
• Demonstrate knowledge and understanding of advanced control concepts of micro and nanorobotic systems.
• Students are able to design, implement and use of micro grippers on nano and micro objects.
Intended learning outcomes - transferable/key skills and other attributes
• Communication skills: oral lab work defence, writing of technical report of completed exercises.
• Use of information technology: use of multipurpose program tools and tools for rapid prototyping of products and processes.
• Problem solving: production of micro and nano grippers, microstructures...
• Working in a group: work in group at lab work
Readings
• Xie, Hui: Atomic Force Microscopy Based Nanorobotics, Springer Berlin Heidelberg, 2012
• Jacob N. Israelachvili: Intermolecular and surface forces, 2011
• Lambert, Pierre: Capillary Forces in Microassembly, Springer, 2007
• Amitabha Ghosh, Burkhard Corves: Introduction to micromechanisms and microactuators, Springer, 2015
Additional information on implementation and assessment The written exam can be completed with both midterm exams. Laboratory exercises report.
