Dynamic modeling, optimized design, and fabrication of a 2DOF piezo-actuated stick-slip mobile microrobot

Saadabad, Navid Asmari; Moradi, Hamed; Vossoughi, Gholamreza

doi:10.1016/j.mechmachtheory.2018.11.025

Cited by 25 publications

(15 citation statements)

References 20 publications

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“…36 Micro-robots might be categorized based on their principle of functioning (piezoelectric, electromagnetic, photoresists, and thermal), structure, dimensions (linear or planar), mobile or stationary, and applications. 37 The major challenge during the design and fabrication of micro-robots development is the actuation due to their small size. So, a large power source cannot be useful for micro-robots, and other alternatives actuation methods, such as piezoelectric actuators, bacterial actuators, swimming tail actuator, and electromagnetic actuators, had been looked for.…”

Section: Mems-based On Mhd For Micro-robot Applicationsmentioning

confidence: 99%

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Magnetohydrodynamic velocity profile measurement for microelectromechanical systems micro-robot design

Flores-Fuentes

Valenzuela-Delgado

Caceres-Hernandez

et al. 2019

International Journal of Advanced Robotic Systems

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The development of microelectromechanical systems based on magnetohydrodynamic for micro-robot applications requires precise control of the micro-flow behavior. The micro-flow channel design and its performance under the influence of the Lorentz force is a critical challenge, the mathematical model of each magnetohydrodynamic device design must be experimentally validated before to be employed in the fabrication of microelectromechanical systems. For this purpose, the present article proposes the enhancement of a particle image velocimetry measurement process in a customized machine vision system. The particle image velocimetry measurements are performed for the micro-flow velocity profile mathematical model validation of a magnetohydrodynamic stirrer prototype. Data mining and filtering have been applied to a raw measurement database from the customized machine vision system designed to evaluate the magnetohydrodynamic stirrer prototype. Outlier’s elimination and smoothing have been applied to raw data to approximate the particle image velocimetry measurements output to the velocity profile mathematical model to increase the accuracy of a customized machine vision system for two-dimensional velocity profile measurements. The accurate measurement of the two-dimensional velocity profile is fundamental owing to the requirement of future enhancement of the customized machine vision system to construct the three-dimensional velocity profile of the magnetohydrodynamic stirrer prototype. The presented methodology can be used for measurement and validation in the design of microelectromechanical systems micro-robot design and any other devices that require micro-flow manipulation for tasks such as stirring, pumping, mixing, networking, propelling, and even cooling.

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Section: Mems-based On Mhd For Micro-robot Applicationsmentioning

confidence: 99%

Section: Mems-based On Mhd For Micro-robot Applicationsmentioning

confidence: 99%

Magnetohydrodynamic velocity profile measurement for microelectromechanical systems micro-robot design

Flores-Fuentes

Valenzuela-Delgado

Caceres-Hernandez

et al. 2019

International Journal of Advanced Robotic Systems

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“…Piezoelectric (PZT) actuator has been increasingly applied in high-precision nano-positioning applications such as microrobots, 1 biological engineering, 2 precision positioning 3 because of their fast response, high resolution, and high output force. 4 To precision control, many control approaches have been proposed.…”

Section: Introductionmentioning

confidence: 99%

Hysteresis compensation and adaptive control based evolutionary neural networks for piezoelectric actuator

2021

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This manuscript introduces a new adaptive inverse neural (AIN) control method applied to precisely track the piezoelectric (PZT) actuator displacement.First, a 3-layer neural network optimized by the enhanced differential evolution technique which modifies a mutation scheme and provides suggestions for selecting mutant coefficient F, crossover coefficient CR, and population size NP, is used to identify the inverse nonlinearity hysteresis structure of the PZT actuator. Second, a feed-forward control based on the identified model is proposed to compensate for the PZT hysteresis effect. Third, the Lyapunov stability principle is used to design and implement an adaptive law-based neural sliding mode model plus the feed-forward compensator to ensure that the whole PZT plant is operated in asymptotical stability. The experiment results demonstrate the proposed AIN controller proves superiority in comparison with other advanced control methods. K E Y W O R D S adaptive inverse neural controller, back-propagation, enhanced differential evolution, hybrid adaptive inverse neural control, Lyapunov stability concept

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“…2−3 Furthermore, recent advancements of the small actuators, such as those based on the piezoelectric, electromagnetic, and chemical motors, make it possible to manufacture small mechatronic and robotic systems. Therefore, many studies attempted to manufacture small-scale actuators utilizing diverse mechanisms such as chemical, 4 electromagnetic, 5,6 magnetic, 7 piezoelectric, 8 shape memory alloys, 9 and optical. 10 Owing to the small size and the low velocity of these robots in fluidic environment, the Reynolds number is small (Re<<1).…”

Section: Introductionmentioning

confidence: 99%

Dynamics and Control of a Novel Microrobot with High Maneuverability

Esfandbod¹,

Pishkenari²,

Meghdari³

2021

Robotica

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SUMMARY In this study, we introduce a novel three-dimensional micro-scale robot capable of swimming in low Reynolds number. The proposed robot consists of three rotating disks linked via three perpendicular adjustable rods, actuated by three rotary and three linear motors, respectively. The robot mechanism has an important property which makes it superior to the previously designed micro swimmers. In fact, our goal is designing a micro swimmer which its controllability matrix has full rank and hence it will be capable to perform any desired maneuver in space. After introducing the mechanism and derivation of the dynamical equations of motion, we propose a control method to steer the robot to the desired position and orientation in the presence of external disturbances in the low Reynolds number flow. Simulation results confirm the successful performance of the proposed mechanism and employed control method demonstrating high maneuverability of microrobot.

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Dynamic modeling, optimized design, and fabrication of a 2DOF piezo-actuated stick-slip mobile microrobot

Cited by 25 publications

References 20 publications

Magnetohydrodynamic velocity profile measurement for microelectromechanical systems micro-robot design

Magnetohydrodynamic velocity profile measurement for microelectromechanical systems micro-robot design

Hysteresis compensation and adaptive control based evolutionary neural networks for piezoelectric actuator

Dynamics and Control of a Novel Microrobot with High Maneuverability

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