Experimental Investigation of Robust Motion Tracking Control for a 2-DOF Flexure-Based Mechanism

Bhagat, Umesh; Shirinzadeh, Bijan; Clark, Leon; Qin, Yanding; Tian, Yanling; Zhang, Dawei

doi:10.1109/tmech.2014.2300481

Cited by 69 publications

(7 citation statements)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This stage is composed of a positioning compliant mechanism (PCM) and the piezoelectric transducer (PZT). For this microelectromechnical system, the PCM can be looked as a mass-spring-damper mechanical system and the PZT can be regarded as a force generator that generates force due to the applied voltage [32], [33]. The dynamical equation of this system can be formulated as follows:…”

Section: System Descriptionmentioning

confidence: 99%

Tracking Control of PZT-Driven Compliant Precision Positioning Micromanipulator

Chen

et al. 2020

IEEE Access

View full text Add to dashboard Cite

This paper focuses on improving tracking performance of totally uncoupled compliant micromanipulator based on robust control method of elliptical hysteresis model. The hysteresis model and hysteresis compensation model for proposed mechanism based on Piezoelectric transducer (PZT) are established by using elliptical model method. The parameters of elliptical hysteresis model is identified by simulating method with different frequencies of control inputs. The uncertainty model is also established, its estimated parameters are conformed by experiment method. Based on the uncertainty model and elliptical hysteresis model, the robust tracking control method is presented and utilized to evaluate the tracking performance of proposed mechanism for inputting different tracking curves. The proposed method can accurately control the output displacement and tracking performance of this mechanism, which are validated and carried out by using experimental studies. Additionally, the coupling errors between two directions are kept within 0.14% and the tracking errors for different curves are within 2.5%.

show abstract

Section: System Descriptionmentioning

confidence: 99%

Tracking Control of PZT-Driven Compliant Precision Positioning Micromanipulator

Chen

et al. 2020

IEEE Access

View full text Add to dashboard Cite

show abstract

“…In the process of indenting large spherical cells, the interaction force can be detected by piezoelectric force sensors, enabling force-feedback control to be performed [2,3]. Recent investigations into the micropositioning of samples has demonstrated accurate and efficient placement on micrometre and nanometre scales [4][5][6][7]. Image processing algorithms have also been adopted to trace the deformation of the indented cells in order to improve the automated microinjection of single cells [8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Sensing and Modelling Mechanical Response in Large Deformation Indentation of Adherent Cell Using Atomic Force Microscopy

Shen

Shirinzadeh

Zhong

et al. 2020

Sensors

Self Cite

View full text Add to dashboard Cite

The mechanical behaviour of adherent cells when subjected to the local indentation can be modelled via various approaches. Specifically, the tensegrity structure has been widely used in describing the organization of discrete intracellular cytoskeletal components, including microtubules (MTs) and microfilaments. The establishment of a tensegrity model for adherent cells has generally been done empirically, without a mathematically demonstrated methodology. In this study, a rotationally symmetric prism-shaped tensegrity structure is introduced, and it forms the basis of the proposed multi-level tensegrity model. The modelling approach utilizes the force density method to mathematically assure self-equilibrium. The proposed multi-level tensegrity model was developed by densely distributing the fundamental tensegrity structure in the intracellular space. In order to characterize the mechanical behaviour of the adherent cell during the atomic force microscopy (AFM) indentation with large deformation, an integrated model coupling the multi-level tensegrity model with a hyperelastic model was also established and applied. The coefficient of determination between the computational force-distance (F-D) curve and the experimental F-D curve was found to be at 0.977 in the integrated model on average. In the simulation range, along with the increase in the overall deformation, the local stiffness contributed by the cytoskeletal components decreased from 75% to 45%, while the contribution from the hyperelastic components increased correspondingly.

show abstract

“…Micro/nano manipulation mechanisms have become an important field of study, with application areas in different industries such as nano-imprint, cell manipulation, scanning probe microscopes, high-density data recording, optical instruments, measurement systems, and micro/nano manipulations [1][2][3][4][5][6][7][8][9]. A micro/nano manipulation mechanism has several advantages over the conventional manipulators.…”

Section: Introductionmentioning

confidence: 99%

Modeling and prototype experiment of a monolithic 3-PUU parallel micromanipulator with nano-scale accuracy

Ghafarian

Shirinzadeh

Al-Jodah

et al. 2020

Smart Mater. Struct.

Self Cite

View full text Add to dashboard Cite

This paper presents the design and experimental investigation of a piezo-driven monolithic compliant 3-PUU (1 prismatic joint (P-joint) and 2 universal joints (U-joints)) XYZ micro/nano manipulator with a high bandwidth frequency and a large workspace. The manipulator is manufactured using a 3D-printing technique, thus a monolithic structure is guaranteed. This feature allows the manipulator to work smoothly with high resolution, accuracy, and repeatability, and simultaneously, it avoids all the deficiencies of non-monolithic designs such as backlash, wear, and friction. Analytical and computational studies are conducted to investigate and confirm the performances of the manipulator. Additionally, an experimental study is performed to verify the analytical and computational results. The workspace is calculated using the three methods, and their relative errors along each axis are shown to validate the accuracy of the results. The tracking performances of the manipulator are validated in a feedback control strategy. Moreover, the proposed manipulator demonstrates the motion resolution of 23 nm, 24 nm, and 18 nm along X, Y, and Z axes, respectively. Finally, the experimental frequency test supports the computational results and confirms the manipulator's high bandwidth frequency.

show abstract

Experimental Investigation of Robust Motion Tracking Control for a 2-DOF Flexure-Based Mechanism

Cited by 69 publications

References 27 publications

Tracking Control of PZT-Driven Compliant Precision Positioning Micromanipulator

Tracking Control of PZT-Driven Compliant Precision Positioning Micromanipulator

Sensing and Modelling Mechanical Response in Large Deformation Indentation of Adherent Cell Using Atomic Force Microscopy

Modeling and prototype experiment of a monolithic 3-PUU parallel micromanipulator with nano-scale accuracy

Contact Info

Product

Resources

About