Pub Date : 2012-08-01DOI: 10.1109/3M-NANO.2012.6472982
Nianfeng F. Wang, Xianmin Zhang
This paper presents the problem formulation and design of compliant microgripper. The microgripper includes a fixed jaw and a movable jaw for engaging opposite surfaces of the article. Actuation of the compliant mechanism drives the movable jaw toward or away from the fixed jaw to close or open the jaws relative to one another. The travel path of the movable jaw is generally at right angles to the gripping surface of the jaw so that the jaws remain parallel to each other as they move toward and away from each other. The automated synthesis of such microgripper is by a structural topology optimization approach. The problem of topology optimization of continuum structures is solved using a multiobjective genetic algorithm coupled with a geometric representation scheme using fat Bezier curve that efficiently defines the variable structural geometry. A graph-theoretic chromosome encoding together with compatible crossover and mutation operators are then applied to form an effective evolutionary optimization procedure. The solution framework is integrated with a non-linear finite element code for large-displacement analyses of the compliant structures, with the resulting optimal designs used to realize various microgripper configurations.
{"title":"Design of a topology optimal compliant microgripper using fat Bezier curves","authors":"Nianfeng F. Wang, Xianmin Zhang","doi":"10.1109/3M-NANO.2012.6472982","DOIUrl":"https://doi.org/10.1109/3M-NANO.2012.6472982","url":null,"abstract":"This paper presents the problem formulation and design of compliant microgripper. The microgripper includes a fixed jaw and a movable jaw for engaging opposite surfaces of the article. Actuation of the compliant mechanism drives the movable jaw toward or away from the fixed jaw to close or open the jaws relative to one another. The travel path of the movable jaw is generally at right angles to the gripping surface of the jaw so that the jaws remain parallel to each other as they move toward and away from each other. The automated synthesis of such microgripper is by a structural topology optimization approach. The problem of topology optimization of continuum structures is solved using a multiobjective genetic algorithm coupled with a geometric representation scheme using fat Bezier curve that efficiently defines the variable structural geometry. A graph-theoretic chromosome encoding together with compatible crossover and mutation operators are then applied to form an effective evolutionary optimization procedure. The solution framework is integrated with a non-linear finite element code for large-displacement analyses of the compliant structures, with the resulting optimal designs used to realize various microgripper configurations.","PeriodicalId":134364,"journal":{"name":"2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127418326","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 : 2012-04-01DOI: 10.4018/ijimr.2012040105
Xu Ma, Shuxiang Guo, Nan Xiao, Jian Guo, S. Yoshida, T. Tamiya, M. Kawanishi
Manual operation of steerable catheter is inaccurate in minimally invasive surgery and requires dexterity for efficient manipulation of the catheter meanwhile exposes the surgeons to intense radiation. In this paper, our objective is to develop a remote control system that replaces the manipulation of surgeons with high accuracy. Increasing demands for flexibility and fast reactions in control method, fuzzy control can play an important role because the experience of experts can be combined in the fuzzy control rules to be implemented in the systems. We present a practical application of fuzzy PID controller for this developed system during the remote operations and compare with the traditional PID control experimentally. The feasibility and effectiveness of the control method are demonstrated. The performance using the fuzzy PID control is much better than using the conventional control method.
{"title":"Development of a novel robotic catheter manipulating system","authors":"Xu Ma, Shuxiang Guo, Nan Xiao, Jian Guo, S. Yoshida, T. Tamiya, M. Kawanishi","doi":"10.4018/ijimr.2012040105","DOIUrl":"https://doi.org/10.4018/ijimr.2012040105","url":null,"abstract":"Manual operation of steerable catheter is inaccurate in minimally invasive surgery and requires dexterity for efficient manipulation of the catheter meanwhile exposes the surgeons to intense radiation. In this paper, our objective is to develop a remote control system that replaces the manipulation of surgeons with high accuracy. Increasing demands for flexibility and fast reactions in control method, fuzzy control can play an important role because the experience of experts can be combined in the fuzzy control rules to be implemented in the systems. We present a practical application of fuzzy PID controller for this developed system during the remote operations and compare with the traditional PID control experimentally. The feasibility and effectiveness of the control method are demonstrated. The performance using the fuzzy PID control is much better than using the conventional control method.","PeriodicalId":134364,"journal":{"name":"2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122595462","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}