Control strategies for a micro-conveyance system based on an electromagnetic digital actuator array

Tisnes, S. Duque; Petit, Lionel; Prelle, Christine

doi:10.1109/mecatronics.2018.8495750

Cited by 2 publications

(1 citation statement)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Finally, these control currents are sent to a virtual system as well as to the real system simultaneously to visualize and evaluate the generated displacements (Figure 8). Our previous work demonstrated that an optimum control strategy in terms of energy and final position error was to use the maximum axial displacement at each step to approach the target point and then use a correction step at the end of the trajectory to attain the final position [28]. The A* algorithm uses this control strategy, generating a grid that allows displacements only in the axial directions.…”

Section: Trajectory Algorithmmentioning

confidence: 99%

Trajectory and Conveyance Validation of a Micro Conveyor Based on a Digital Electromagnetic Actuators Array for the Micro-Factory

et al. 2021

View full text Add to dashboard Cite

Micro-factories are characterized by high modularity, reconfigurability and mobility. To achieve this, the micro-factory needs a conveyor which is able to transport objects in as many degrees of freedom (DoF) as possible, executes optimal trajectories of these objects in terms of energy and precision and is robust to withstand possible malfunctions. In this article, we present the planar conveyance of objects on a digital actuation array following trajectories generated by an adapted A* algorithm. The A* algorithm exploits the predictions of a developed dynamic model of the system to find the optimal paths (in terms of energy) on the conveyor surface. The dynamic model predictions were compared to experimental measurements, obtaining low root-mean-square-errors for all conditions. Uni-dimensional conveyance tests characterized the influence of the control parameters. Then, bi-dimensional motions characterized the conveyor’s performance. From the bi-dimensional test, a position root-mean-square-error of 20 μm was measured for a 1109 μm open-loop controlled trajectory. The modular nature of the array allows easy scaling and avoiding possible malfunctioning zones, increasing the robustness of the micro-conveyor. The experimental tests demonstrate that the proposed device is an interesting alternative for the micro-factory.

show abstract

Section: Trajectory Algorithmmentioning

confidence: 99%