A 3D-printed 3-DOF tripedal microrobotic platform for unconstrained and omnidirectional sample positioning

Adibnazari, Iman; Nagel, William S.; Leang, Kam K.

doi:10.1007/s41315-018-0071-9

Cited by 10 publications

(6 citation statements)

References 16 publications

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“…Morita et al proposed a 3‐DOF parallel XYθ z link mechanism based on the impact actuation principle, [ 175 ] which achieved linear motions along X / Y axis and rotary motion around Z axis; the positioning error was 18.6 μm in the point‐positioning test and the deviations of the position and rotary angle were −5.34 μm and −50 mdeg, respectively. A 3‐DOF XYθ z tripedal microrobotic platform with unlimited stroke and sub‐micrometer accuracy was designed, [ 176 ] which achieved unconstrained and omnidirectional sample positioning; the platform achieved strokes of 3 mm × 3 mm × 20°. Fuchiwaki et al [ 177 ] developed a compact 3‐DOF inchworm mechanism with low‐inertia characteristic for omnidirectional precise positioning, which consisted of four piezoelectric actuators and a pair of electromagnets.…”

Section: Multi‐dof Piezoelectric Actuationmentioning

confidence: 99%

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Review on Multiple‐Degree‐of‐Freedom Cross‐Scale Piezoelectric Actuation Technology

Chang,

Chen,

Zhang

et al. 2024

Advanced Intelligent Systems

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Piezoelectric actuation technology has been widely used in various precise‐oriented fields. Its notable advantages include high resolution, rapid response speed, output force with high density, and immunity to electromagnetic interference. Characteristics of cross‐scale and multiple‐degree‐of‐freedom (multi‐DOF) output motions are of utmost importance in the context of micro‐/nanopositioning technology. For decades, researchers have been working to develop various piezoelectric devices that exploit these important properties. In this review, a comprehensive review of recent research efforts in the field of cross‐scale multi‐DOF piezoelectric drive technology is provided. To commence, it provides an in‐depth exploration of the unique advantages associated with piezoelectric actuation, demonstrating them through comparative analyses with alternative actuation methods. Subsequently, the complexity of piezoelectric cross‐scale motion is introduced, and the multi‐DOF piezoelectric motion is classified in detail. Furthermore, the practical applications of multi‐DOF cross‐scale piezoelectric actuation technology are systematically elucidated, highlighting its versatility and suitability in real‐world environments. Finally, an in‐depth discussion that addresses the challenges encountered in the field is provided, and the prospective directions for further developments in piezoelectric actuation technology are outlined. This scholarly contribution plays an important role in guiding future research and innovative initiatives.

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Section: Multi‐dof Piezoelectric Actuationmentioning

confidence: 99%

mentioning

confidence: 99%

Review on Multiple‐Degree‐of‐Freedom Cross‐Scale Piezoelectric Actuation Technology

Chang,

Chen,

Zhang

et al. 2024

Advanced Intelligent Systems

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“…[194][195][196] As shown in Figure 9a, the inertial impact type MPRs usually have three parts, including robot base, piezoelectric unit, and inertial unit. Sawtooth signals are generally utilized to realize the inertial movements, and there are usually two sub-steps in the movements: 1) in t 1 to t 2 , the piezoelectric unit slowly deforms to push the inertial unit forward, the generated inertial force is smaller than the static friction between the robot base and the ground, and the robot base remains stationary; 2) in t 1 to t 2 , the piezoelectric unit rapidly deforms and makes the piezoelectric unit move backward, the generated inertial force is much larger than that in sub-step 1) because of the fast response; and the robot base will move forward when the inertial force generated by the inertial unit is greater than the friction force between the robot base and the ground; and the continuous movements can be achieved by repeating these sub-steps [197,198] Zhong et al [199] proposed a cubic centimeter MPR using the inertial impact method, as shown in Figure 9b, only the forward movement was realized by using one piezoelectric stack. Then, Zhong et al [200] designed a bipedal inertial impact type MPR illustrated in Figure 9c to improve the freedom of the robot motion, two piezoelectric stacks were used to actuate the two driving feet, respectively, the forward and steering motions were achieved.…”

Section: The Inertial Driving Type Mprsmentioning

confidence: 99%

Developments and Challenges of Miniature Piezoelectric Robots: A Review

Li,

Deng,

Zhang

et al. 2023

Advanced Science

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Miniature robots have been widely studied and applied in the fields of search and rescue, reconnaissance, micromanipulation, and even the interior of the human body benefiting from their highlight features of small size, light weight, and agile movement. With the development of new smart materials, many functional actuating elements have been proposed to construct miniature robots. Compared with other actuating elements, piezoelectric actuating elements have the advantages of compact structure, high power density, fast response, high resolution, and no electromagnetic interference, which make them greatly suitable for actuating miniature robots, and capture the attentions and favor of numerous scholars. In this paper, a comprehensive review of recent developments in miniature piezoelectric robots (MPRs) is provided. The MPRs are classified and summarized in detail from three aspects of operating environment, structure of piezoelectric actuating element, and working principle. In addition, new manufacturing methods and piezoelectric materials in MPRs, as well as the application situations, are sorted out and outlined. Finally, the challenges and future trends of MPRs are evaluated and discussed. It is hoped that this review will be of great assistance for determining appropriate designs and guiding future developments of MPRs, and provide a destination board to the researchers interested in MPRs.

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“…Bergander et al (2004) designed an FHMs-PSSA integrated with atomic force microscope probes; it could realize the movement of three degrees of freedom in one plane by controlling the electrical signals of the four piezoelectric rods; besides, the FHMs-PSSA could be accurately located and applied to accurate measurement by using the information obtained from the atomic force microscope probe as well. Adibnazari et al (2018) developed a three-degree-of-freedom FHMs-PSSA using 3D printing technology, which achieved sub-micrometer precision; the good output characteristics of the platform showed the feasibility of creating functional 3D printing, see Figure 8(c). To expand the SEM micromanipulation system, the hemispherical precision operating platform designed by Shiratori et al (2012) is presented in Figure 8(d), which could be rotated in any direction including u X , u Y , and u Z through the coordinated actuation of multiple drive units.…”

Section: Multi-directional Coupling Type Multi-degree-of-freedommentioning

confidence: 99%

“…Unidirectional coupling type multi-DOF FHMs-PSSA: (a) nanomanipulation system for handling nanowires by Zhang et al (2013) and (b) multi-DOF FHMs-PSSA by Tian et al (2019). Multi-directional coupling type multi-DOF FHMs-PSSA: (c) multi-DOF FHMs-PSSA by Adibnazari et al (2018); and (d) multi-DOF FHMs-PSSA by Shiratori et al (2012).…”

Section: Progress In Structural Design Of Fhms-pssasmentioning

confidence: 99%

Piezoelectric stick-slip actuators with flexure hinge mechanisms: A review

Qiao

et al. 2022

Journal of Intelligent Material Systems and Structures

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Piezoelectric stick-slip actuators (PSSAs) are famous for ultimate working condition adaptability, simple structure, and positioning accuracy. To meet the demand of industrial application, lots of PSSAs designed with flexure hinge mechanisms (FHMs-PSSAs) have been developed to realize the requirements of translational motion, rotational motion, multi-degree-of-freedom (multi-DOF) motion. The output performance of the FHMs-PSSAs has been greatly improved, including load capacity, speed, and accuracy; moreover, some approaches to solve the problem of the backward motion are provided as well. In this work, the working principle of FHMs-PSSAs is introduced, and the excitation signals applicable to FHMs-PSSAs are summarized. Based on the current research and development status, the progress of structure design of FHMs-PSSAs is introduced in accordance with translatory FHMs-PSSAs, rotary FHMs-PSSAs, and multi-DOF FHMs-PSSAs. Additionally, the developed analysis methods and design schemes to improve the performance are introduced, including theoretical analysis methods, consistency scheme of forward and reverse performance, suppression scheme of the backward motion, and improvement scheme of positioning accuracy. The significance of this work can be regarded as a further supplement to the previous review articles on the PSSAs, which will provide a reference and guidance for the future development of FHMs-PSSAs.

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A 3D-printed 3-DOF tripedal microrobotic platform for unconstrained and omnidirectional sample positioning

Cited by 10 publications

References 16 publications

Review on Multiple‐Degree‐of‐Freedom Cross‐Scale Piezoelectric Actuation Technology

Review on Multiple‐Degree‐of‐Freedom Cross‐Scale Piezoelectric Actuation Technology

Developments and Challenges of Miniature Piezoelectric Robots: A Review

Piezoelectric stick-slip actuators with flexure hinge mechanisms: A review

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