Development, Control and Evaluation of a Mobile Platform for Microrobots

Edeler, Christoph; Jasper, Daniel; Fatikow, Sergej

doi:10.3182/20080706-5-kr-1001.02155

Cited by 8 publications

(6 citation statements)

References 9 publications

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“…1). The mobile nanohandling robots used in this paper have been extensively described in several publications [7], [11], [12]. Mobile robots have several advantages over Cartesian systems with multiple linear positioners.…”

Section: Nanorobotsmentioning

confidence: 99%

“…• steel sphere ↔ working surface and • ruby hemispheres ↔ steel sphere. Unfortunately, the exact characteristics of these contacts are unknown [12]. Measurements are hard to accomplish due to the high dynamics and the required time and position resolutions.…”

Section: Stick-slip Actuationmentioning

confidence: 99%

“…According to [12], there is most likely no sliding between steel sphere and working surface. Experiments in which the robot moves widely independent of the type of the working surface further indicate that the drive is mostly independent of this friction coefficient.…”

Section: Stick-slip Actuationmentioning

confidence: 99%

See 2 more Smart Citations

High-Speed Nanorobot Position Control Inside A Scanning Electron Microscope

et al. 2010

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Closed-loop nanorobot control performance is a key challenge on the way to high-throughput nanohandling. Currently, the limited update rate, long latency and unpredictable jitter of tracking based on scanning electron microscope images are a major bottleneck for such closed-loop control. A new approach for high-speed position sensing relying on line scans of a scanning electron microscope is adapted into the control loop of a mobile nanorobot. Several evaluation measurements show the system's unprecedented performance in terms of speed, resolution and accuracy. In only 60 ms, the employed mobile nanorobot can be positioned with a precision of 20nm in multiple degrees of freedom.

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Section: Nanorobotsmentioning

confidence: 99%

Section: Stick-slip Actuationmentioning

confidence: 99%

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High-Speed Nanorobot Position Control Inside A Scanning Electron Microscope

et al. 2010

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“…The actuators slip over the steel balls and another stick-slip step can be performed. This leads to a semicontinuous, smooth motion of the robot with a maximum velocity of 15 mm/s [7], [8]. By combining several piezoactuators, the robot can move in three DoF in-plane (x, y, and rotation) using six control channels.…”

Section: B Actuation and Design Principles For Microrobotsmentioning

confidence: 99%

Towards automated robotic nanomanipulation systems

Christoph

Claas

Mirko

et al. 2009

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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This paper describes the key components that need to be developed, implemented and integrated in order to make full automation on the nano-scale possible. Multiple nanohandling robots are integrated into a flexible robot cell that can quickly adapt to different manipulation scenarios. An approach for the physical actuation of the employed smart actuators is given. A real-time capable control architecture makes efficient and reliable automation possible. With specialized methods of collision avoidance and path planning, the actual automation sequences can then abstract from the complex task of motion planning for individual robots. Furthermore, the major challanges when performing calibration and adjustment on the nanoscale are highlighted.

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“…Since then, researchers aimed at compact and simple designs in order to push the driving frequency limit. For example, the so-called “push-pull” actuator and similar concepts were proposed [13,14,15], which enables high frequency actuation for motors or microrobots. Their common characteristic is the small stroke or step, usually less than few hundreds nanometers.…”

Section: Introductionmentioning

confidence: 99%

Design and Waveform Assessment of a Flexible-Structure-Based Inertia-Drive Motor

et al. 2019

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This paper reports the mechanical design, waveform investigation and experimental validation of an flexible-structure-based inertia-drive linear motor. The flexible structure is designed and verified with finite element analysis to meet the bandwidth requirement for high-frequency actuation. In order to improve the output velocity, non-resonance low-harmonic driving waveform is implemented and evaluated. Experimental results show that the motor is capable of an output velocity of 2.41 mm/s with the waveform, compared to 0.73 mm/s with the classic saw-tooth waveform actuation. The improvement of the non-resonance low-harmonic waveform for the flexible-structure-based motor is confirmed.

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Development, Control and Evaluation of a Mobile Platform for Microrobots

Cited by 8 publications

References 9 publications

High-Speed Nanorobot Position Control Inside A Scanning Electron Microscope

High-Speed Nanorobot Position Control Inside A Scanning Electron Microscope

Towards automated robotic nanomanipulation systems

Design and Waveform Assessment of a Flexible-Structure-Based Inertia-Drive Motor

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