Identification and Robust Controllers for an Electrostatic Microgripper

Felix, Andrei A.; Colón, Diego; Verona, Bruno M.; Ramos, Luciana W. S. L.; Gomez, Houari Cobas; Gongora-Rubio, Mário Ricardo

doi:10.1007/s42417-020-00241-2

Cited by 9 publications

(3 citation statements)

References 27 publications

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“…Force feedback increases the efficiency and reliability of automated microcontroller systems and assembly processes [6]. On the FT-G 100 microgripper base, a model of a nonlinear electrostatic device with an integrated force sensor is proposed for object manipulation in the micrometric world [7], [8]. For the reliable control of gripping force, authors designed a force feedback controller based on the Kalman filter.…”

Section: Electrostatic Microgrippersmentioning

confidence: 99%

Robotic micromanipulation: b) grippers for biological objects

Bučinskas¹,

Subačiūtė-Žemaitienė²,

Dzedzickis³

et al. 2022

Robot. syst., appl.

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Recent progress in the field of microrobotics tightly linked to an ability to grab an object firmly without the damage to the surface and structure. Process of biological object grabbing by microgrippers faces numerous limitations in the mechanical, electric and thermal domains; these limitations varies from case to case with different objects, therefore, analysis in this area was an aim of this review. This paper covers an area of micrometric size biological object manipulation and performs an analysis of used actuators and kinematic chains of the grippers in the sense of their application. Limitations and restriction of microgrippers applications analysed along available publications in numerous recent references as well as their successful implementation history. Paper provides result of analysis as compact big picture, which will be useful for researchers and designers in the area of microrobotics.

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Section: Electrostatic Microgrippersmentioning

confidence: 99%

Robotic micromanipulation: b) grippers for biological objects

Bučinskas¹,

Subačiūtė-Žemaitienė²,

Dzedzickis³

et al. 2022

Robot. syst., appl.

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“…To date, microgrippers with various kinds of actuators, including the electrostatic actuator (Boudaoud et al, 2013; Felix et al, 2021), shaped memory alloy actuator (AbuZaiter et al, 2016; Yurtsever and Küçük, 2020), electromagnetic actuator (Go et al, 2016; Xiao and Li, 2014), electrothermal actuator (Chu et al, 2011; Soma et al, 2018), and piezoelectric actuator (Chen et al, 2020; Nah and Zhong, 2007; Rakotondrabe et al, 2011), have been developed. In particular, the piezoelectric actuator is extensively used in many microgrippers because of its high resolution, fast response speed, and high output stiffness (Qiu and Wang, 2019; Zhu et al, 2016b).…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of a two-degrees-of-freedom monolithic compliant piezoelectric microgripper

Song

Yang

et al. 2022

Journal of Intelligent Material Systems and Structures

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This paper presents the design, modeling, and testing of a compliant two-degrees-of-freedom microgripper using a single piezoelectric actuator. It can move along the x- and y-directions by combining double-leaf bridge and parallelogram mechanisms. An analytical model is established using the finite-element method. The displacement amplification ratio, natural frequency, and output coupling ratio are analyzed using ANSYS software. An experimental test system is built to verify the open-loop performances. Experimental results show that the displacement amplification ratios in the x- and y-directions are 30.8 and 8.6. The first resonant frequencies in the x- and y-directions are 123.3 and 546.9 Hz. If an input displacement of 10 μm is applied, the operating ranges in the x- and y-directions are 0–616.6 μm and 0–51.0 μm, and the gripping force range is 0–25.8 mN. Experimental results validate the feasibility of the theoretical model and simulation analysis. Also, closed-loop trajectory control is conducted to reduce the hysteresis nonlinearity and achieve a high control accuracy for the new microgripper.

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“…Its manipulation objects are usually small objects with sizes ranging from a few microns to a few hundred microns [5]. It has a good application prospect in micro-processing, micro-assembly, optics, medicine, biology and other fields [6]. Therefore, the research of micro clamping technology is an important solution to realize automatic manipulation.…”

Section: Introductionmentioning

confidence: 99%

Design, Analysis and Experimental Investigations of a Double-Arm Based Micro-Gripper for Thin and Flexible Metal Wires Manipulation

Wang

Chen

2022

Micromachines

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A robotic system for the automatic wire pulling of coreless motor winding is designed, including the design of an opening-closing control system and a micro-gripper’s tip structure with a double-armed elastic-beam structure for the support part and an enveloping clamping structure for the tip part. The micro-gripper captures the electrode wire from the root, encircles the wire after the envelope region is closed, and the thin and flexible electrode wire is pulled to the top of the electrode pad by the movement of the micro-gripper and released. The mechanical index of the micro-gripper is simulated to obtain the optimal structural parameters. The experimental results show that the electrode wire’s maximum bearing force is about 0.3 N. Under this reaction force, the deformation of the tip-envelope region of the micro-gripper is about 27.5 μm, which is sufficient for electrode wire pulling micro-manipulation. By comparison with the steel micro-gripper, the silicon micro-gripper has more advantages in shape integrity, machinability and mechanical properties.

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Identification and Robust Controllers for an Electrostatic Microgripper

Cited by 9 publications

References 27 publications

Robotic micromanipulation: b) grippers for biological objects

Robotic micromanipulation: b) grippers for biological objects

Design and analysis of a two-degrees-of-freedom monolithic compliant piezoelectric microgripper

Design, Analysis and Experimental Investigations of a Double-Arm Based Micro-Gripper for Thin and Flexible Metal Wires Manipulation

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