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Development of a Robotic Cell for the Printing of Electronic Circuits on Free Form Surfaces and Industrial Applications Gioia Furia

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Development of a Robotic Cell for the Printing of Electronic Circuits on Free Form Surfaces and Industrial Applications Gioia Furia Development of a robotic cell for the printing of electronic circuits on free form surfaces and industrial applications Gioia Furia To cite this version: Gioia Furia. Development of a robotic cell for the printing of electronic circuits on free form surfaces and industrial applications. Mechanics of materials [physics.class-ph]. Université Grenoble Alpes [2020-..], 2021. English. NNT : 2021GRALI015. tel-03228497 HAL Id: tel-03228497 https://tel.archives-ouvertes.fr/tel-03228497 Submitted on 18 May 2021 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. FURIA Gioia 2 TABLE OF CONTENT GENERAL INTRODUCTION 1. CONTEXT OF THE PROJECT ............................................................................................................ 11 2. OBJECTIVES OF THE THESIS .......................................................................................................... 13 3. MAIN OBSTACLES AND THESIS STRUCTURE .......................................................................... 14 4. BIBLIOGRAPHY .................................................................................................................................... 16 5. TABLE OF FIGURES ............................................................................................................................ 16 CHAPTER 1: BIBLIOGRAPHY 1 INTRODUCTION ................................................................................................................................... 23 2 HIGH PRECISION FABRICATION PROCESS ............................................................................... 24 2.1 Robotic arm: architecture and cinematic .......................................................................... 24 2.2 Manufacturing process ............................................................................................................. 25 2.3 Main issues causing inaccuracies .......................................................................................... 26 2.3.1 Inaccuracies related to the object ................................................................................ 27 2.3.2 Inaccuracies linked to the process .............................................................................. 28 2.3.3 Inaccuracies related to the static accuracy of the robot ..................................... 28 2.4 Mesure in-situ ............................................................................................................................... 30 2.4.1 Position of the measuring phase in the manufacturing process ...................... 30 2.4.2 Integration of the measuring equipment in the working area ......................... 31 3 FUNCTIONAL MATERIALS PRINTING ........................................................................................ 33 3.1 Direct and contactless printing process ............................................................................. 33 3.1.1 Aerosol .................................................................................................................................... 34 3.1.2 Inkjet ....................................................................................................................................... 35 3.1.3 Jetting ...................................................................................................................................... 36 3.1.4 Extrusion ............................................................................................................................... 36 3.1.5 Comparison ........................................................................................................................... 37 3.2 Physical and chemical properties ......................................................................................... 38 3.2.1 Physico-chemistry of the ink ......................................................................................... 38 3.2.2 Rheological behaviour of the ink .................................................................................. 40 3.2.3 Conductive property of printed tracks ...................................................................... 42 3.2.4 Metallic inks.......................................................................................................................... 43 3.2.5 Carbon based ink ................................................................................................................ 46 3.2.6 Conductive polymers ........................................................................................................ 47 FURIA Gioia 3 3.3 Substrates used in electronic printing ................................................................................ 48 3.3.1 Substrates characteristics ............................................................................................... 48 3.3.2 Substrates studied in literature .................................................................................... 50 3.3.3 Molded cellulose ................................................................................................................. 51 3.3.4 Micro Fibrillated cellulose (MFC) ................................................................................ 52 3.4 Annealing types ........................................................................................................................... 52 3.4.1 Thermal annealing ............................................................................................................. 53 3.4.2 Chemical annealing ............................................................................................................ 53 3.4.3 Electrical annealing ........................................................................................................... 54 3.4.4 Plasma annealing ................................................................................................................ 55 3.4.5 Microwave annealing ........................................................................................................ 56 3.4.6 Photonic annealing ............................................................................................................ 56 4 CONNECTED OR FUNCTIONAL OBJECT ..................................................................................... 60 4.1 Molded Interconnect Devices (MID) .................................................................................... 60 4.1.1 Fabrication process ........................................................................................................... 60 4.1.2 Research project examples ............................................................................................. 62 4.1.3 Industrial application examples ................................................................................... 62 4.2 Additive manufacturing of 2D multilayer functional devices .................................... 63 4.2.1 Paper microfluidic .............................................................................................................. 63 4.2.2 Papertouch ............................................................................................................................ 64 4.3 Additive manufacturing of 3D functional objects ........................................................... 65 4.3.1 Multimaterials objects additive manufacturing process .................................... 65 4.3.2 Industrial application examples ................................................................................... 67 4.4 Robotic for 3D printing ............................................................................................................. 69 4.4.1 Research project examples ............................................................................................. 69 4.4.2 Industrial application examples ................................................................................... 71 5 CONCLUSION ........................................................................................................................................ 74 6 BIBLIOGRAPHY .................................................................................................................................... 75 7 TABLE OF FIGURES ............................................................................................................................ 83 8 TABLE OF TABLES .............................................................................................................................. 84 CHAPTER 2: ROBOTIC CELL AND OFF-LINE PROGRAMMING SOFTWARE DEVELOPMENT 1 INTRODUCTION ................................................................................................................................... 90 2 3D SIMULATION AND POST-PROCESSOR SOFTWARE ....................................................... 91 FURIA Gioia 4 2.1 VAL 3 language ............................................................................................................................. 92 2.1.1 Structure of VAL3 language: application
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