Dynamic force/position modeling of a one-DOF smart piezoelectric micro-finger with sensorized end-effector

Abstract

In this paper, a generic microscale system is studied where a smart microsystem composed of an active based material actuator, sensorized structure and transformation system is studied. This problem is important at the microscale because it offers a force measurement of the applied force by the actuator to a flexible environment which enables to understand the interaction between the complete smart microsystem and the environment and to design and control the interaction between the system and the environment. A special case where a sensorized end-effector is fixed on the tip of a piezoelectric actuator is detailed. Integrating a sensorized end-effector influences the behavior of the smart microfinger and is not studied in recent works.The complete finger, which is called in this paper smart finger, consists of a piezoelectric actuator, an end-effector and a novel piezoresistive force sensor. A complete model is developed for generating both force and displacement at the finger's tip while interaction with a flexible environment. A nonlinear model of the piezoelectric actuator is considered and a complete model is developed taking into account the frequency dependent hysteresis of the piezoelectric actuator. The model of the hysteresis is based on the Bouc-Wen method which simplifies the parameter estimation. The complete dynamic force/position model of the finger is validated experimentally with small errors (less than 10%).

High Bandwidth Microgripper With Integrated Force Sensors and Position Estimation for the Grasp of Multistiffness Microcomponents

“…Consequently, the creep will not be modeled because its action occurs only in static domain. Moreover, the force sensing of the system provides some feedback to the system leading to taking the creep into consideration in the model when the object is manipulated; 3) the rate dependent hysteresis is modeled by a nonlinear static part (using Bouc-Wen hysteresis model) followed by the dynamics of the actuator as proven in [41], [43].…”

“…Based on models developed in [40], [41], [43], [44] and using (2), the model of the piezoelectric actuator can be written IEEE/ASME TRANSACTIONS ON MECHATRONICS 5 in the frequency domain as follows:…”

Sliding Mode Impedance Controlled Smart Fingered Microgripper for Automated Grasp and Release Tasks at the Microscale

“…3. The complete model of the smart finger is developed in [20] but will be briefly summarized in this section. The model of the piezoelectric actuator is developed using existing models in literature [21], [22], [23] as follows:…”

“…As developed in [20], the rate-dependent hysteresis of the piezoelectric actuator can be modeled as a static hysteresis followed by the dynamics of the piezoelectric actuator, 𝐷(𝑠), as follows:…”

“…where 𝐻 𝑠 (𝑈) is a static hysteresis which does not depend on the dynamics of the actuator. It can be modeled, according to [23], [20], by the Bouc-Wen method in the time domain as follows:…”