Modelling and control of a piezo actuated micro robot with active force control capability for in-pipe application

Sabzehmeidani, Yaser; Mailah, Musa; Hussein, Mohamed

doi:10.1504/ijmic.2011.041785

Cited by 12 publications

(4 citation statements)

References 23 publications

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“…Combined with mechanical structures, it can be applied to some robots to achieve telescopic, traveling, and other unidirectional control operations. 34,35 Our next work will include further reduction in circuit losses to improve efficiency and a chip-based design to reduce size and mass, with further development in the miniaturization of the electronic component.…”

Section: Discussionmentioning

confidence: 99%

Micro converter with a high step-up ratio to drive a piezoelectric bimorph actuator applied in mobile robots

Wang

Chen

2018

International Journal of Advanced Robotic Systems

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In this study, a micro converter for driving a piezoelectric actuator is designed and implemented. The converter can produce 100 V, 80 Hz AC voltage from 3.7 V DC voltage. With regard to the requirements of micro mobile robots, the main contributions of this study are the design and implementation of a circuit topology supplying power for micro mobile robots at low power and the miniaturization of this topology to make it suitable for driving a centimeter-level robot. The 91 mg mass (excluding printed circuit board mass), 14 Â 12 Â 4 mm size, and 84.6% efficiency of the converter indicate that this circuit could be applied in micro mobile robots driven by piezoelectric actuators.

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Section: Discussionmentioning

confidence: 99%

Micro converter with a high step-up ratio to drive a piezoelectric bimorph actuator applied in mobile robots

Wang

Chen

2018

International Journal of Advanced Robotic Systems

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“…F HySAFC , F a , E m and ẍ denote the desired force of the HySAFC, actuator force, estimated mass and body acceleration of the SDOF, respectively. F a is measured using a force sensor, and the ẍ data are determined from an accelerometer [67,68]. M is obtained from the design of the SDOF impact isolation system.…”

Section: Control Strategy Design Of Hysafcmentioning

confidence: 99%

A hybrid skyhook active force control for impact mitigation using magneto-rheological elastomer isolator

Rahmat

Hudha

Kadir

et al. 2021

Smart Mater. Struct.

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This paper presents control characteristic of an impact isolator featuring a magneto-rheological elastomer isolator device (MREID). The developed MREID is analysed in term of its magnetic intensity to produce a large of MR effect that controlled by the input current. In order to control the input current, the hybrid skyhook active force control (HySAFC) is proposed. The HySAFC is used to track the signal based on the force obtained from the feedback of the force sensor and accelerometer. However, the control output of the HySAFC is desired force of the current generator which is designed using the inverse adaptive neuro-fuzzy inference system (ANFIS). Then, the selection of the input current using the IF-THEN rules depend on desired force and impact energy for current generator. Next, for the development of control structure, the impact isolation system is formulated and the impact isolation test rig is used to perform the experimental validation process. The validation assessment of HySAFC is experimentally realized, and the control responses, namely such as jerk, accelerations and transmitted forces as well as the impact isolation system are presented in the time domain. Finding of this study, the HySAFC is able to improve the MREID performance for impact loading application in simulation and experiment and capable in providing fast response when impact occurred.

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“…Another classical application of pneumatic systems is that of locomotion of worm-like robots, where the absence of a solid structure often limits the range of available actuators. As a particular case, inchworm robots are appealing for pipe maintenance and diagnostics due to their shape and operational mechanism (Bertetto and Ruggiu, 2001 ; Sabzehmeidani et al, 2011 ; Gargade and Ohol, 2016 ). In fact, as discussed in (Di Lallo et al, 2018 ), inchworm robots substantially require two kinds of forces to implement propulsion: an impelling force and a holding force.…”

Section: Possible Application Examplesmentioning

confidence: 99%

Dynamic Morphological Computation Through Damping Design of Soft Continuum Robots

et al. 2019

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Inspired by nature, soft robotics aims at enhancing robots capabilities through the use of soft materials. This article presents the study of soft continuum robots which can change their dynamic behavior thanks to a proper design of their damping properties. It enables an under-actuated dynamic strategy to control multi-chamber pneumatic systems using a reduced number of feeding lines. The present work starts from the conceptual investigation of a way to tune the damping properties of soft continuum robots, and leverages on the introduction of viscous fluid within the soft chamber wall to produce dissipative actions. Several solutions are analyzed in simulations and the most promising one is tested experimentally. The proposed approach employs a layer of granular material immersed in viscous silicone oil to increase the damping effect. After validation and experimental characterization, the method is employed to build soft continuum actuators with different deformation patterns, i.e., extending, contracting and bending. Experimental results show the dynamic behavior of the presented actuators. Finally, the work reports information on how the actuators are designed and builded, together with a discussion about possible applications and uses.

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Modelling and control of a piezo actuated micro robot with active force control capability for in-pipe application

Cited by 12 publications

References 23 publications

Micro converter with a high step-up ratio to drive a piezoelectric bimorph actuator applied in mobile robots

Micro converter with a high step-up ratio to drive a piezoelectric bimorph actuator applied in mobile robots

A hybrid skyhook active force control for impact mitigation using magneto-rheological elastomer isolator

Dynamic Morphological Computation Through Damping Design of Soft Continuum Robots

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