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Communication Dans Un Congrès Année : 2024

Design Optimization of Polyarticulated Robot for SEM Micromanipulation

Résumé

This paper introduces an approach to optimize the design of serial robots tailored to achieve tasks within confined spaces such that of a Scanning Electron Microscope (SEM). Given the available working area, where tasks and visualization are restricted to a very small volume (few 1mm3 ), numerous systems revolve around this limited space, constraining the area available for integrating a manipulation robot. To address this challenge, we aim to optimize the robotic structure’s design, making it more compact and closer to the area of interest, thereby enhancing the workspace. The primary objective of the optimization process is to maximize the robot’s capability to attain significant angular orientations that currently drastically limits manipulation abilities and accessibility of the robots. The proposed methodology provides systematic means to address the challenges posed by the constrained environment, ensuring the serial robot’s work performance within the SEM. The resulting robot architecture meets the criteria of large workspace and the ability to achieve a large angular rotation of 34° which is more than double the largest rotation of the actual robot using the same stages, thereby enhancing the overall capabilities of serial robots for SEM applications.
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Dates et versions

hal-04692803 , version 1 (10-09-2024)

Identifiants

Citer

Spiro Dourbaly, Kanty Rabenorosoa, Jean-Yves Rauch, Cédric Clevy. Design Optimization of Polyarticulated Robot for SEM Micromanipulation. International Conference on Manipulation, Automation and Robotics at Small Scales, Jul 2024, Delft, Netherlands. ⟨10.1109/MARSS61851.2024.10612707⟩. ⟨hal-04692803⟩
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