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


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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    • "In the field of microrobotics, active hyper-redundant micromanipulators have large opportunities in highly constrained and precise industrial and medical applications. Different research projects have been initiated such as steerable microcatheters for endovascular or intravascular surgeries [1], boroscopes for in-pipe inspection in nuclear plants [2], highprecision micromanipulation [3], and so on. Whatever the chosen controllable joint's actuator technology binary joint (BJ) or continuous joint (CJ)-different control limitations are encountered in such microrobotic systems. "
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    ABSTRACT: The paper presents a control strategy for a hyper redundant micromanipulator that has the particularity to have either a) binary joints: only a small finite number of position are allowed within min and max bounds and b) continuous joints: the joint can move continuously within its min and max bounds. The problem optimization is double: a) solve inverse kinematics for this kind of system and b) maximize the number of binary joints. We show that the hybrid nature of the manipulator make these problems nontrivial and we develop a parallel evolution strategy (ES) and genetic algorithm (GA) in response to this dual problem.
    Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on; 02/2002
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    ABSTRACT: In this paper we demonstrate coordinated control of multiple micromanipulators for use in 2D and 3D micromanipulation tasks. We develop a feature-defined (FD) micro-caging transport primitive for 2D micromanipulation and use a similar methodology to extend it to the 3D case. Simultaneous movements of the coordinated micromanipulators allow for both 2D planar micro-caging grasps and micro-force closure grasps suitable for 3D micro-transporting tasks. Experimental results illustrate the success and accuracies of both the 2D and 3D methodologies. The new transport primitives are used in conjunction with our previous micromanipulation primitives and coordinated XY stage movements to semi-autonomously execute a number of representative 2D and 3D micromanipulation tasks.
    Journal of Micro-Nano Mechatronics 12/2012; 7(4). DOI:10.1007/s12213-012-0050-4
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    ABSTRACT: A microrobot is a complex microsystem that requires the integration of different functions in a very small volume - a mechanical structure, actuators, sensors, coordinated by a control system. This paper presents some prototypes of microrobots, with diameter of 2 mm and 3D mobility. They are realized by microstereophotolithography (μSPL) and are actuated by shape memory alloy wires. We also present some results concerning the identification and control of our prototypes
    Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on; 10/1997
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