Design of cooperative microrobots with impedance optimization

Conference Paper · October 1997with6 Reads
DOI: 10.1109/IROS.1997.656440 · Source: IEEE Xplore
Conference: Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on, Volume: 3


    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