Paper Info
Title
Design Of Cooperative Microrobots With Impedance Optimization
Abstract
This paper deals with the design optimization and development of cooperative microrobots. We realized several prototypes by microstereophotolithography (muSPL), actuated by shape memory alloy (SMA) wire micromotors. We are now about to integrate displacement and temperature microsensors. Our purpose is the cooperative micromanipulation of micro-objects (with their own dynamic) in the applications like micro catheters and micro-assembling devices. The capability to control the own impedance of our microrobots, both by an optimal design and the intrinsic ability of SMA micromotors to adapt their compliance and impedance, is taken advantage of. We introduce the thermomechanical behavior of SMA microactuators and the mechanical characteristics of polymer robot structure in an incremental dynamic model of the microrobot. We have obtained the impedance model of integrated microsystem and identified the main influencing design parameters. We have developed a neuronal bond graph (NBG) formalism that is used to the adaptive modelling of partial dynamic hystersis cycles.
Year
DOI
Venue
1997
10.1109/IROS.1997.656440
IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3
Keywords
Field
DocType
kinematics,design optimization,impedance,temperature,bond graphs,neural nets,shape memory alloys,bond graph,shape memory alloy,prototypes,robot kinematics
SMA*,Microsystem,Computer science,Hysteresis,Control engineering,Electrical impedance,Shape-memory alloy,Bond graph,Robot
Conference
Citations 
PageRank 
References 
2
0.43
2
Authors
4
Name
Order
Citations
PageRank
Mihai Calin1102.69
Nicolas Chaillet211823.35
Joël Agnus3618.05
Alain Bourjault4173.26