Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481168
Xiaodong Wang, N. Jiao, S. Tung, Lianqing Liu
Algae cells (Chlamydomonas reinhardtii) have been controlled as microrobots to move and carry cargoes. But the cargoes are usually small relative to the size of C. reinhardtii. In this paper, we fabricated various microstructures by UV curing device. The experiments proved that a fairly big gear with diameter of 500 μm could be rotated driven by C. reinhardtii cells. The thrust force was analyzed. It's expected that the C. reinhardtii could play a new role in the field of bioactuation.
{"title":"Locomotion of Microstructures Driven by Algae Cells","authors":"Xiaodong Wang, N. Jiao, S. Tung, Lianqing Liu","doi":"10.1109/MARSS.2018.8481168","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481168","url":null,"abstract":"Algae cells (Chlamydomonas reinhardtii) have been controlled as microrobots to move and carry cargoes. But the cargoes are usually small relative to the size of C. reinhardtii. In this paper, we fabricated various microstructures by UV curing device. The experiments proved that a fairly big gear with diameter of 500 μm could be rotated driven by C. reinhardtii cells. The thrust force was analyzed. It's expected that the C. reinhardtii could play a new role in the field of bioactuation.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129109726","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481150
Min Liu, Jinqing Zhan, Benliang Zhu, Xianmin Zhang
Flexure hinges have been widely used in precision positioning, precision measurement and other fields due to its high-precision features. Traditional notch flexure hinges often exhibit local stress, which limits the range of motion and reduces the fatigue life of flexure-based mechanisms. This paper proposes a conceptual method for designing flexure hinges with distributed stress by using the topology optimization approach. The topology optimization model is developed. The objective function is presented by equally minimizing the ratio of axial displacement and bending displacement and the maximum stress. A global P-norm stress measure is used to reduce the stress level of flexure hinges. The solid isotropic material with penalization (SIMP) is adopted to describing the topology optimization problem. Numerical examples are used to demonstrate the validity of the proposed method.
{"title":"Topology Optimization of Flexure Hinges with Distributed Stress for Flexure-Based Mechanisms","authors":"Min Liu, Jinqing Zhan, Benliang Zhu, Xianmin Zhang","doi":"10.1109/MARSS.2018.8481150","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481150","url":null,"abstract":"Flexure hinges have been widely used in precision positioning, precision measurement and other fields due to its high-precision features. Traditional notch flexure hinges often exhibit local stress, which limits the range of motion and reduces the fatigue life of flexure-based mechanisms. This paper proposes a conceptual method for designing flexure hinges with distributed stress by using the topology optimization approach. The topology optimization model is developed. The objective function is presented by equally minimizing the ratio of axial displacement and bending displacement and the maximum stress. A global P-norm stress measure is used to reduce the stress level of flexure hinges. The solid isotropic material with penalization (SIMP) is adopted to describing the topology optimization problem. Numerical examples are used to demonstrate the validity of the proposed method.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125501848","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481219
E. Demir, S. Yeşilyurt
Low Reynolds Number rolling and sliding motion of spheres inside cylindrical channels filled with glycerin is investigated. Experimental data are collected for channel/sphere radius ratios $(r_{ch}/r_{sph})$ of 1.6 and 3, where the magnetic sphere is actuated at frequencies between 0.1-50 Hz. Magnetically actuated sphere is rotated clockwise about the y-axis, where the central axis of the cylindrical channel is designated as the z-axis and the distance between the sphere center and the channel axis is measured in x-direction. For $r_{ch}/r_{sph}$ ratio of 3, we observe that the sphere translates in positive z-direction, performing “rolling”. However, at smaller $r_{ch}/r_{sph}$ ratio of 1.6, where the sphere is closely fitted inside the cylindrical channel, as the actuation frequency is increased, transition from rolling to “sliding” in the opposite direction is observed, which describes the motion of a sphere translating in negative z-direction despite its clockwise rotation about y-axis. Further increase in actuation frequency results in saturation of the lateral velocity of sphere due to step-out in both cases. Experimental results are compared to the predictions of the existing analytical models in the literature. A computational fluid dynamics (CFD) model validated against the data found in the literature is utilized to help extending the existing data and interpreting the experimental results.
{"title":"Rolling and Sliding of Spheres Inside Horizontal Channels","authors":"E. Demir, S. Yeşilyurt","doi":"10.1109/MARSS.2018.8481219","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481219","url":null,"abstract":"Low Reynolds Number rolling and sliding motion of spheres inside cylindrical channels filled with glycerin is investigated. Experimental data are collected for channel/sphere radius ratios $(r_{ch}/r_{sph})$ of 1.6 and 3, where the magnetic sphere is actuated at frequencies between 0.1-50 Hz. Magnetically actuated sphere is rotated clockwise about the y-axis, where the central axis of the cylindrical channel is designated as the z-axis and the distance between the sphere center and the channel axis is measured in x-direction. For $r_{ch}/r_{sph}$ ratio of 3, we observe that the sphere translates in positive z-direction, performing “rolling”. However, at smaller $r_{ch}/r_{sph}$ ratio of 1.6, where the sphere is closely fitted inside the cylindrical channel, as the actuation frequency is increased, transition from rolling to “sliding” in the opposite direction is observed, which describes the motion of a sphere translating in negative z-direction despite its clockwise rotation about y-axis. Further increase in actuation frequency results in saturation of the lateral velocity of sphere due to step-out in both cases. Experimental results are compared to the predictions of the existing analytical models in the literature. A computational fluid dynamics (CFD) model validated against the data found in the literature is utilized to help extending the existing data and interpreting the experimental results.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"09 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127145547","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Threefold over-constrained Bricard mechanisms can be widely used in areas such as deployable mechanism, origami mechanism and compliant mechanisms. However, the triangular topology of this structures cannot meet all the practical stresses and have less application flexibility than quadrilateral. This paper presents, models and analyses the compliant multistable four-fold Bricard mechanisms. First, mechanism prototype is analyzed, including the DOF analysis, the kinematics model and the kinematics relationship. Second, multistable behaviors of the proposed mechanism are analyzed using a energy related method. At last, prototype devices and potential applications are prospected for the proposed Bricard loops.
{"title":"Multistability Analysis for the Compliant Four-Fold Bricard Loops","authors":"Hongchuan Zhang, Xiamin Zhang, Benliang Zhu, Rixin Wang, Qi Chen","doi":"10.1109/MARSS.2018.8481195","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481195","url":null,"abstract":"Threefold over-constrained Bricard mechanisms can be widely used in areas such as deployable mechanism, origami mechanism and compliant mechanisms. However, the triangular topology of this structures cannot meet all the practical stresses and have less application flexibility than quadrilateral. This paper presents, models and analyses the compliant multistable four-fold Bricard mechanisms. First, mechanism prototype is analyzed, including the DOF analysis, the kinematics model and the kinematics relationship. Second, multistable behaviors of the proposed mechanism are analyzed using a energy related method. At last, prototype devices and potential applications are prospected for the proposed Bricard loops.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132059465","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481221
Zhong Yang, D. Popa
Exploiting engineering compliance in microrobotics has been a breakthrough approach for navigating well-known tradeoffs related to precision, fabrication, and control challenges at small scales. However, modeling of compliant, multi-body, 3 dimensional microrobots is considerably more difficult than traditional rigid-body robot kinematics. In this paper, we formulate a kinematic modeling methodology applicable to a broad class of compliant microrobots. Such models can be used prior to fabrication to evaluate mechanism dexterity, precision and sensitivity to dimensional tolerances. They can also be used for microrobot visualization, control synthesis and for fast parametric optimization. We exemplify our approach by modeling the AFAM, an Articulated Four Axes Microrobot, constructed via 3D microassembly from Micro Electro Mechanical System (MEMS) compliant building blocks. The AFAM is a novel mm-scale microrobot designed for nano-positioning tasks in future wafer-scale microfactories. We derive the kinematic model of the AFAM using a computationally scalable constraint optimization approach that can be used equally effectively for both forward and inverse kinematics. Simulation results using the robot operating system (ROS) programming framework are presented in the paper.
{"title":"A General Kinematic Modeling Framework for a 3D Compliant Micromechanism","authors":"Zhong Yang, D. Popa","doi":"10.1109/MARSS.2018.8481221","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481221","url":null,"abstract":"Exploiting engineering compliance in microrobotics has been a breakthrough approach for navigating well-known tradeoffs related to precision, fabrication, and control challenges at small scales. However, modeling of compliant, multi-body, 3 dimensional microrobots is considerably more difficult than traditional rigid-body robot kinematics. In this paper, we formulate a kinematic modeling methodology applicable to a broad class of compliant microrobots. Such models can be used prior to fabrication to evaluate mechanism dexterity, precision and sensitivity to dimensional tolerances. They can also be used for microrobot visualization, control synthesis and for fast parametric optimization. We exemplify our approach by modeling the AFAM, an Articulated Four Axes Microrobot, constructed via 3D microassembly from Micro Electro Mechanical System (MEMS) compliant building blocks. The AFAM is a novel mm-scale microrobot designed for nano-positioning tasks in future wafer-scale microfactories. We derive the kinematic model of the AFAM using a computationally scalable constraint optimization approach that can be used equally effectively for both forward and inverse kinematics. Simulation results using the robot operating system (ROS) programming framework are presented in the paper.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132238499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481231
David E. Hernandez, Steven W. Chen, Elizabeth E. Hunter, E. Steager, Vijay R. Kumar
We present a cell tracking pipeline that combines deep cell segmentation with a Viterbi algorithm tracker to accurately detect and track cells in microscopy videos. Our pipeline handles large illumination shifts, large appearance variability in the cells, and heavy occlusion from other cells and debris. We first train a Fully Convolutional Network (FCN) to detect the cells, then track the cells across frames using a tracker based on the Viterbi algorithm. We evaluate our algorithm on a dataset featuring Escherichia coli (E. coli) where the experimental goal is to immobilize the E. coli using blue light, thus making the dataset especially challenging due to large illumination shifts. Our results demonstrate that despite these challenges, our pipeline is able to accurately detect and track the cells.
{"title":"Cell Tracking with Deep Learning and the Viterbi Algorithm","authors":"David E. Hernandez, Steven W. Chen, Elizabeth E. Hunter, E. Steager, Vijay R. Kumar","doi":"10.1109/MARSS.2018.8481231","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481231","url":null,"abstract":"We present a cell tracking pipeline that combines deep cell segmentation with a Viterbi algorithm tracker to accurately detect and track cells in microscopy videos. Our pipeline handles large illumination shifts, large appearance variability in the cells, and heavy occlusion from other cells and debris. We first train a Fully Convolutional Network (FCN) to detect the cells, then track the cells across frames using a tracker based on the Viterbi algorithm. We evaluate our algorithm on a dataset featuring Escherichia coli (E. coli) where the experimental goal is to immobilize the E. coli using blue light, thus making the dataset especially challenging due to large illumination shifts. Our results demonstrate that despite these challenges, our pipeline is able to accurately detect and track the cells.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128487443","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481193
T. K. Das, B. Shirinzadeh, M. Ghafarian, Joshua Pinskier
In this paper, a new Piezoelectric Actuator (PEA) microgripper with two degrees of freedom (2-DOF) is proposed for grasping and micro-positioning of micro-objects. It incorporates two types of parallel mechanism, namely, flexible and rigid body based. The flexure-based gripper is intended to improve the dexterity and flexibility of the grasping and release of micro-objects. Finite Element Analysis (FEA) was employed to evaluate the performance of the microgripper's design parameters. The workspace of proposed mechanism was obtained using a kinematic model. The FEA results showed that the maximum stroke of grasping and transferring are 476 11m and 88 11m, respectively. The displacement amplification ratios are 15.87 and 2.93 for grasping and transferring, respectively. In the worst-case scenario, the maximum equivalent (von-Mises) stress and minimum safety factor of the designed microgripper were obtained as 3.83 MPa and 13.1, respectively, this confirms that the microgripper performs well without any failure. The concept of inverse kinematics was implemented on the proposed mechanism in FEA model and utilized to investigate the mi-crogrippers motion and coupling effects. Computational results indicated that the proposed 2-DOF microgripper can achieve accurate motion trajectory during grasping and releasing micro-objects.
{"title":"A Flexure-Based 2-DOF Microgripper for Handling Micro-Objects","authors":"T. K. Das, B. Shirinzadeh, M. Ghafarian, Joshua Pinskier","doi":"10.1109/MARSS.2018.8481193","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481193","url":null,"abstract":"In this paper, a new Piezoelectric Actuator (PEA) microgripper with two degrees of freedom (2-DOF) is proposed for grasping and micro-positioning of micro-objects. It incorporates two types of parallel mechanism, namely, flexible and rigid body based. The flexure-based gripper is intended to improve the dexterity and flexibility of the grasping and release of micro-objects. Finite Element Analysis (FEA) was employed to evaluate the performance of the microgripper's design parameters. The workspace of proposed mechanism was obtained using a kinematic model. The FEA results showed that the maximum stroke of grasping and transferring are 476 11m and 88 11m, respectively. The displacement amplification ratios are 15.87 and 2.93 for grasping and transferring, respectively. In the worst-case scenario, the maximum equivalent (von-Mises) stress and minimum safety factor of the designed microgripper were obtained as 3.83 MPa and 13.1, respectively, this confirms that the microgripper performs well without any failure. The concept of inverse kinematics was implemented on the proposed mechanism in FEA model and utilized to investigate the mi-crogrippers motion and coupling effects. Computational results indicated that the proposed 2-DOF microgripper can achieve accurate motion trajectory during grasping and releasing micro-objects.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125274938","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481146
Nozomu Fujimoro, Tomoyasu Yamada, T. Murakami, T. Kanda, Kota Mori, K. Suzumori
In recent years, a generation of emulsions has been experimentally investigated. In this study, to generate high-quality W/O (Water-in-Oil) emulsions, we have designed a droplet generation system using a torsional bolt-clamped Langevin-type transducer and a micropore plate, and generated droplets in the flowing continuous liquid directly and successively. When the vibrational velocity of micropore and the applied pressure of dispersed liquid were 96.5 mmls and 0.140 MPaG, the average diameter of generated droplets and the standard deviation were 62.5 um and 2.6 um, respectively. In addition, we have found a transition point in which generated droplets became uniform in the flowing continuous liquid, and we have succeed in generating droplets with wider pressure range into the flowing continuous liquid compared with the generation into the continuous liquid.
{"title":"Micro Droplets Generation in a Flowing Continuous Liquid Using an Ultrasonic Transducer","authors":"Nozomu Fujimoro, Tomoyasu Yamada, T. Murakami, T. Kanda, Kota Mori, K. Suzumori","doi":"10.1109/MARSS.2018.8481146","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481146","url":null,"abstract":"In recent years, a generation of emulsions has been experimentally investigated. In this study, to generate high-quality W/O (Water-in-Oil) emulsions, we have designed a droplet generation system using a torsional bolt-clamped Langevin-type transducer and a micropore plate, and generated droplets in the flowing continuous liquid directly and successively. When the vibrational velocity of micropore and the applied pressure of dispersed liquid were 96.5 mmls and 0.140 MPaG, the average diameter of generated droplets and the standard deviation were 62.5 um and 2.6 um, respectively. In addition, we have found a transition point in which generated droplets became uniform in the flowing continuous liquid, and we have succeed in generating droplets with wider pressure range into the flowing continuous liquid compared with the generation into the continuous liquid.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129224548","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481235
E. Schaler, Loren Jiang, Caitlyn Lee, R. Fearing
We demonstrate a new thin-film electrostatic actuator (RAFA) capable of generating bidirectional repulsive- and attractive-forces. The two-layer actuator controllably produces measured electrostatic pressures up to 156 Pa (38.9 mN, for 2.5 cm2 electrode area) in repulsion and 352 Pa (88.0 mN) in attraction when operating at 0-1.2 kV. The four patterned electrodes (two per layer) have a cross-section geometry optimized in simulation for maximum blocked force over a $pmb{25-500} mu m$ stroke length. RAFAR, a 132 mg milli-robot, uses a 1.45 cm2 RAFA to crawl at 0.32 mm/ s with anisotropic friction feet.
我们展示了一种新的薄膜静电致动器(RAFA)能够产生双向排斥力和吸引力。当工作在0-1.2 kV时，两层致动器可控地产生可测量的静电压力，斥力高达156 Pa (38.9 mN，电极面积为2.5 cm2)，吸引力为352 Pa (88.0 mN)。四个图案电极(每层两个)具有在模拟中优化的横截面几何形状，可在$pmb{25-500} μ m$行程长度上获得最大阻挡力。RAFAR是一个132毫克毫米的机器人，使用1.45平方厘米的RAFAR，通过各向异性摩擦脚以0.32毫米/秒的速度爬行。
{"title":"Bidirectional, Thin-Film Repulsive-/Attractive-Force Electrostatic Actuators for a Crawling Milli-Robot","authors":"E. Schaler, Loren Jiang, Caitlyn Lee, R. Fearing","doi":"10.1109/MARSS.2018.8481235","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481235","url":null,"abstract":"We demonstrate a new thin-film electrostatic actuator (RAFA) capable of generating bidirectional repulsive- and attractive-forces. The two-layer actuator controllably produces measured electrostatic pressures up to 156 Pa (38.9 mN, for 2.5 cm2 electrode area) in repulsion and 352 Pa (88.0 mN) in attraction when operating at 0-1.2 kV. The four patterned electrodes (two per layer) have a cross-section geometry optimized in simulation for maximum blocked force over a $pmb{25-500} mu m$ stroke length. RAFAR, a 132 mg milli-robot, uses a 1.45 cm2 RAFA to crawl at 0.32 mm/ s with anisotropic friction feet.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129252243","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481225
Sen Gu, Changhai Ru
Nanopositioning stage is of central importance in the nanorobitic system. The working principle of piezoelectric stick-slip actuating combines the merits of piezoelectric actuating and stick-slip actuating and is a preferable option to design nanopositioning stage with the advantage of high resolution, large stoke and compact mechanical structure. However, the existing techniques in the design of piezoelectric stick-slip driving nanopositioning stage paid little attention to the adjustable friction force which significantly affects the motion properties and load capability. Our goal was to develop a novel piezoelectric stick-slip driving nanopositioning stage that the friction force can be adjusted, consequently, the properties of high resolution, high speed and large load are ensure. To do this we developed an independent driving module including piezoelectric stack actuator, flexure hinge, driving object and preloading screw that installed between base and slider, and the friction force is adjusted by operating adjusting screw installed in the base. Moreover, a power supply circuit of nanopositiong stage was designed and the impact of output voltage magnitude, frequency and step time on the motion of nanopositioning stage was analyzed in order to design the more precise control signal.
{"title":"Design of a Novel Piezoelectric Stick-Slip Driving Nanopositioning Stage and Power Supply Circuit","authors":"Sen Gu, Changhai Ru","doi":"10.1109/MARSS.2018.8481225","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481225","url":null,"abstract":"Nanopositioning stage is of central importance in the nanorobitic system. The working principle of piezoelectric stick-slip actuating combines the merits of piezoelectric actuating and stick-slip actuating and is a preferable option to design nanopositioning stage with the advantage of high resolution, large stoke and compact mechanical structure. However, the existing techniques in the design of piezoelectric stick-slip driving nanopositioning stage paid little attention to the adjustable friction force which significantly affects the motion properties and load capability. Our goal was to develop a novel piezoelectric stick-slip driving nanopositioning stage that the friction force can be adjusted, consequently, the properties of high resolution, high speed and large load are ensure. To do this we developed an independent driving module including piezoelectric stack actuator, flexure hinge, driving object and preloading screw that installed between base and slider, and the friction force is adjusted by operating adjusting screw installed in the base. Moreover, a power supply circuit of nanopositiong stage was designed and the impact of output voltage magnitude, frequency and step time on the motion of nanopositioning stage was analyzed in order to design the more precise control signal.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133451031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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