Miniature compliant grippers are designed and developed to manipulate biological cells and characterize them. Apart from grippers, other compliant mechanisms are also demonstrated to be effective in manipulation and characterization. Although scalability and force-sensing capability are inherent to a compliant mechanism, it is important to design a compliant mechanism for a given application. Two techniques based on Spring-lever models and kinetoelastostatic maps are developed and used for designing compliant devices. The kinetoelastostatic maps-based technique is a novel approach in designing a mechanism of a given topology and shape. It is also demonstrated that these techniques can be used to tune the stiffness of a mechanism for a given application. In situations where any single mechanism is incapable of executing a specific task, two or more mechanisms are combined into a single continuum with enhanced functionality. This has led to designs of composite compliant mechanisms. Biological cells are manipulated using compliant grippers in order to study their mechanical responses. Biological cells whose size varies from 1 mm (a large zebrafish embryo) to 10 µm (human liver cells), and which require the grippers to resolve forces ranging from 1 mN (zebrafish embryo) to 10 nN (human cells), are manipulated. In addition to biological cells, in some special cases such as tissue-cutting and cement-testing, inanimate specimens are used to highlight specific features of compliant mechanisms. Two extreme cases of manipulation are carried out to demonstrate the efficacy of the design techniques. They are: (i) breaking a stiff cement specimen of stiffness 250 kN/m (ii) gentle grasping of a soft zebrafish embryo of stiffness 10 N/m. Apart from manipulation, wherever it is viable, the mechanisms are interfaced with a haptic device such that the user’s experience of manipulation is enriched with force feedback. An auxiliary study on the characterization of cells is carried out using a micro¬pipette based aspiration technique. Using this technique, cells existing in different conditions such as perfusion, therapeutic medicines, etc., are mechanically characterized. This study is to qualitatively compare aspiration-based techniques with compliant gripper-based manipulation techniques. A compliant gripper-based manipulation technique is beneficial in estimating the bulk stiffness of the cells and can be extended to estimate the distribution of Young’s modulus in the interior. This estimation is carried out by solving an inverse problem. A previously reported scheme to solve over specified boundary conditions of an elastic object—in this case a cell—is improved, and the improved scheme is validated with the help of macro-scale specimens.

The main objective of this thesis was to improve the understanding of some aspects on wood and fibre mechanics related to conditions in the thermomechanical pulping process. Another objective was to measure the power distribution between the rotating plates in a refiner.   The thesis comprises the following parts: –A literature review aimed at describing fracture in wood and fibres as related to the thermomechanical pulping process –An experimental study of fracture in wood under compression, at conditions similar to those in feeding of chips into preheaters and chip refiners –An experimental study of the effect of impact velocity on the fracture of wood, related to conditions of fibre separation in the breaker bar zone in a chip refiner –A micromechanical model of the deterioration of wood fibres, related to the development of fibre properties during the intense treatment in the small gap in the refining zone –Measurements of the power distribution in a refiner.   The fracture in wood under compression was investigated by use of acoustic emission monitoring. The wood was compressed in both lateral and longitudinal directions to predict preferred modes of deformation in order to achieve desired irreversible changes in the wood structure. It was concluded that the most efficient compression direction in this respect is longitudinal. Preferable temperature at which the compression should be carried out and specific energy input needed in order to achieve substantial changes in the wood structure were also given.   The fibre separation step and specifically the effect of impact velocity on the fracture energy were studied by use of a falling weight impact tester. The fracture surfaces were also examined under a microscope. An increase in impact velocity resulted in an increase in fracture energy. In the thermomechanical pulping process the fibres are subjected to lateral compression, tension and shear which causes the creation of microcracks in the fibre wall. This damage reduces the fibre wall stiffness. A simplified analytical model is presented for the prediction of the stiffness degradation due to the damage state in a wood fibre, loaded in uni-axial tension or shear. The model was based on an assumed displacement field together with the minimum total potential energy theorem. For the damage development an energy criterion was employed. The model was applied to calculate the relevant stiffness coefficients as a function of the damage state. The energy consumption in order to achieve a certain damage state in a softwood fibre by uniaxial tension or shear load was also calculated. The energy consumption was found to be dependent on the microfibril angle in the middle secondary wall, the loading case, the thicknesses of the fibre cell wall layers, and conditions such as moisture content and temperature. At conditions, prevailing at the entrance of the gap between the plates in a refiner and at relative high damage states, more energy was needed to create cracks at higher microfibril angles. The energy consumption was lower for earlywood compared to latewood fibres. For low microfibril angles, the energy consumption was lower for loading in shear compared to tension for both earlywood and latewood fibres. Material parameters, such as initial damage state and specific fracture energy, were determined by fitting of input parameters to experimental data. Only a part of the electrical energy demand in the thermomechanical pulping process is considered to be effective in fibre separation and developing fibre properties. Therefore it is important to improve the understanding of how this energy is distributed along the refining zone. Investigations have been carried out in a laboratory single-disc refiner. It was found that a new developed force sensor is an effective way of measuring the power distribution within the refining zone. The collected data show that the tangential force per area and consequently also the power per unit area increased with radial position. The results in this thesis improve the understanding of the influence of some process parameters in thermomechanical pulping related wood and fibre mechanics such as loading rate, loading direction, moisture content and temperature to separate the fibres from the wood and to achieve desired irreversible changes in the fibre structure. Further, the thesis gives an insight of the spatial energy distribution in a refiner during thermomechanical pulping.