Robotic assembly and joining of miniature and MEMS components using adhesive films – test environment and experiences

Karjalainen, Ilpo; Sandelin, Teemu; Uusitalo, Jani; Tuokko, Reijo

doi:10.1108/01445150410698958

Cited by 3 publications

(1 citation statement)

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“…Many of these applications have arisen with the growth of the microelectromechanical systems (MEMS) (Ghayesh et al, 2013) market, such as microassembly, which can be defined as the assembly of micro-products, where the main goal is the construction of a micro-structure by means of several microcomponents under microscopic tolerances (Tarazon, 2010). Some good examples of micro-assembly of MEMS can be found in Dechev et al (2003) and Karjalainen et al (2004). The interaction between objects and final accuracy are the main issues in micro-assembly.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear modeling and tracking control of a single-link micro manipulator using controlled Lagrangian method

Tavallaeinejad

Eghtesad

Mahzoon

et al. 2014

Journal of Vibration and Control

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In this paper a dynamical model and the governing equations of motion of a micro-cantilever beam with rotating joint as an application of under-actuated systems will be developed. The model is based on the geometrically nonlinear equations of motion of the microbeam, employing strain gradient elasticity theory. The Rayleigh–Ritz method is used to discretize partial differential equations to obtain a set of nonlinear ordinary differential equations of motion. Then, a controlled Lagrangian method as a robust procedure for controller design is employed to achieve an acceptable tracking on the hinge’s angle of rotation of a micro-cantilever beam while undesirable vibration of the under-actuated flexible variable is damped. A stability analysis of the closed-loop system is also discussed. The advantages of the controlled Lagrangian method lie in its ability to find the Lyapunov function to prove the stability of the system and its capability of handling under-actuated devices. The performance of the designed control scheme is illustrated through several numerical simulation results and some comparisons are made in various situations.

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Section: Introductionmentioning

confidence: 99%