A microgripper using smart piezoelectric actuators

Haddab, Yassine; Chaillet, Nicolas; Bourjault, A.

doi:10.1109/iros.2000.894679

Cited by 78 publications

(79 citation statements)

References 4 publications

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“…A microgripper is based on two cantilevers, called microactuators, taht are made of smart materials [1] [2]. Piezoelectric materials are the most used because of the high resolution, high bandwidth and high force density that they can offer [3].…”

Section: Introductionmentioning

confidence: 99%

Interval Modeling and Robust Control of Piezoelectric Microactuators

Khadraoui

Rakotondrabe

Lutz

2012

IEEE Trans. Contr. Syst. Technol.

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Abstract-Microsystems are very sensitive to environmental disturbances (thermal variation, surrounding vibration, microobjects in contact with them, etc.) and they are often subjected to small degradation or their behaviors are often affected during the functioning. As a result, their parameters often change during the micromanipulation, microassembly or measurement tasks and the accuracy or even the stability may be lost. For that, robust control laws should be introduced to control them and to ensure the performance.H∞ and µ-synthesis approaches were the classical robust techniques used to control microsystems. They are undeniably efficient but they lead to high-order controllers that are sometimes inconvenient for real-time embedded systems. In this paper, by the means of interval numbers that are used to characterize the uncertain parameters, we propose a method to synthesize simple controllers ensuring robust performance for microsystems. The controller synthesis is formulated as a set-inclusion problem. The main advantages of the proposed method are the ease of modeling the uncertain parameters thanks to intervals and the simplicity and low-order of the derived controllers. The method is afterwards applied to model and control piezoelectric microactuators and the experimental results show its efficiency. Finally, using the H∞ technique, we also demonstrate numerically the performance robustness of the closed-loop with the designed controller.

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Section: Introductionmentioning

confidence: 99%

Interval Modeling and Robust Control of Piezoelectric Microactuators

Khadraoui

Rakotondrabe

Lutz

2012

IEEE Trans. Contr. Syst. Technol.

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“…For small displacements, the behavior of the cantilever can be considered as linear. It has been shown (Haddab et al, 2000) that the dynamic relationship between F and į and between V and į are similar. The three signals are linked by the following equation:…”

Section: Dynamic Characterizationmentioning

confidence: 99%

Improvement of strain gauges micro-forces measurement using Kalman optimal filtering

2009

Self Cite

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Manipulation of small components and assembly of Microsystems require force measurement. In the microworld (the world of very small components), signal/noise ratio is very low due to the weak amplitude of the signals. To be used in feedback control or in a micromanipulation system, a force sensor must allow static and dynamic measurements. In this paper, we present a micro-force measurement system based on the use of strain gauges and a Kalman optimal filter. Using a model of the measurement system and a statistical description of the noise, the optimal filter allows filtering the noise without loss of dynamic measurement. The performances of the measurement system are improved and fast force variations can be measured.

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“…Several types of microgrippers are developed in the past decade using different types of actuating principles like Electrostatic microgripper [1]- [2], Electrothermal microgripper [3]- [4], Shape memory alloy actuated microgripper [5]- [7], Piezoelectric based microgripper [8]- [10]. Piezoelectric materials have large operating bandwidth and can produce large mechanical forces in a compact design which makes it more feasible and befitting solution for the microgripper actuators.…”

Section: Introductionmentioning

confidence: 99%

Experimental Performance Testing of APA Stack Actuator for a 2 DOF Microgripper

2016

IJAMAE

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A microgripper using smart piezoelectric actuators

Cited by 78 publications

References 4 publications

Interval Modeling and Robust Control of Piezoelectric Microactuators

Interval Modeling and Robust Control of Piezoelectric Microactuators

Improvement of strain gauges micro-forces measurement using Kalman optimal filtering

Experimental Performance Testing of APA Stack Actuator for a 2 DOF Microgripper

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