Conference Paper

Design of cooperative microrobots with impedance optimization

Lab. d'Autom. de Besancon, CNRS, Besancon
DOI: 10.1109/IROS.1997.656440 Conference: Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on, Volume: 3
Source: IEEE Xplore

ABSTRACT This paper deals with the design optimization and development of
cooperative microrobots. We realize several prototypes by
micro-stererophotolithographic (μSPL) process, actuated by shape
memory alloy (SMA) wire micromotors. The integration of displacement and
temperature microsensors is considered. Our aim is to realise
cooperative micromanipulation of microobjects in the applications such
as microcatheters and micro-assembling devices. The compliance and
impedance controls of the microrobots are considered. We introduce the
thermomechanical behavior of the SMA microactuators and the mechanical
characteristics of polymer robot in an incremental dynamic model of the
microrobot. We obtain the impedance model of the integrated microsystem
and identify the main influencing design parameters. We also develop a
neuronal bond graph formalism that is used for the adaptive modeling of
partial dynamic hysteresis cycles

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