Principle, characterization and control of a new hybrid thermo-piezoelectric microactuator

Rakotondrabe, Micky; Ivan, Ioan Alexandru

doi:10.1109/robot.2010.5509922

Cited by 3 publications

(7 citation statements)

References 15 publications

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“…The microgripper was capable of producing a jaw aperture between 98.4 and 71.8 lm with applied current of 0.32-0.84 A respectively, although the writers stated that a larger gap would be achievable by improving the gripper design, however it was not stated what improvement would be implemented. To incorporate the high range capabilities of an electro-thermal actuator, but also utilize the high speed and precision accuracy of a piezoelectric actuator, a hybrid actuator microgripper has been previously fabricated (Rakotondrabe and Ivan 2010). The structure of the arm used a dual layer cantilever comprising of a piezoelectric layer and a passive layer.…”

Section: Electro-thermal Microgrippermentioning

confidence: 99%

Microgripper design and evaluation for automated µ-wire assembly: a survey

2020

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Microgrippers are commonly used for micromanipulation of micro-objects from 1 to 100 lm and attain features of reliable accuracy, low cost, wide jaw aperture and variable applied force. This paper aim is to review the design of different microgrippers which can manipulate and assemble l-wire to PCB connectors. A review was conducted on microgrippers' technologies, comparing fundamental components of structure and actuators' types, which determined the most suitable design for the required micromanipulation task. Various microgrippers' design was explored to examine the suitability and the execution of requirements needed for successful micromanipulation.

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Section: Electro-thermal Microgrippermentioning

confidence: 99%

Microgripper design and evaluation for automated µ-wire assembly: a survey

2020

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“…The principle and the development of the new microgripper are detailed in this section. In order to reach the high range and high resolution, the thermo-piezoelectric actuator presented in the previous work [20] is used for each cantilever. The principle of one hybrid thermo-piezoelectric cantilever is, therefore, introduced.…”

Section: Development Of a New Hybrid Thermo-piezoelectric Microgrmentioning

confidence: 99%

“…In addition, this approach proposes a lower accuracy due to the clearance and/or the eventual bad alignment of the assembled elementary systems. In [20], a compact design of microactuator was proposed. It is actuated in two ways: thermal actuation for the high range, and piezoelectric actuation for the high resolution.…”

Section: A Presentation Of the Hybrid Thermo-piezoelectric Cantilevermentioning

confidence: 99%

“…In the first part of this paper, the development of the new microgripper which is able to simultaneously perform a high range and a high resolution of positioning is presented. The developed microgripper is based on two cantilevers (actuators) presented in a previous work [20]. The principle of each cantilever is based on the thermal bimorph functioning combined with the piezoelectric effect.…”

Section: Introductionmentioning

confidence: 99%

“…To extend the static model (1) into a dynamic and complete model, it has been admitted that both the mechanical term and the piezoelectric term has the same dynamics [24]. Denoting (such as ( , i.e., is a normalized dynamic term) the term that models the dynamics of the piezoelectric microactuator, we have (2) Finally, [20] shows that the dynamic model between the input current applied to a TEC-device and the output deflection of a thermo-hybrid cantilever is…”

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confidence: 99%

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Development and Force/Position Control of a New Hybrid Thermo-Piezoelectric MicroGripper Dedicated to Micromanipulation Tasks

Rakotondrabe

Ivan

2011

IEEE Trans. Automat. Sci. Eng.

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130

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A new microgripper dedicated to micromanipulation and microassembly tasks is presented in this paper. Based on a new actuator, called thermo-piezoelectric actuator, the microgripper presents both a high range and a high positioning resolution. The principle of the microgripper is based on the combination of the thermal actuation (for the coarse positioning) and the piezoelectric actuation (for the fine positioning). In order to improve the performances of the microgripper, its actuators are modeled and a control law for both the position and the manipulation force is synthesized afterwards. A new control scheme adapted for the actuators of the hybrid thermo-piezoelectric microgripper is therefore proposed. To prove the interest of the developed microgripper and of the proposed control scheme, the control of a pick-and-release task using this microgripper is carried out. The experimental results confirm their efficiency and demonstrate that the new microgripper and the control law are well suited for micromanipulation and microassembly applications. Note to Practitioners-The works presented in this paper are motivated by the need of high performances systems dedicated to pick-transport-and-place tasks and their control. These tasks are one of the main base of the microassembly and micromanipulation applications. While pick-and-place tasks were successfully performed with classical microgrippers, they were very rarely automated. This is mainly due to the fact that automation in the micro/nanoworld is a new issue and the litterature only concerns the local control of microactuators and microrobots for the moment. Furthermore, existing microgrippers are limited to small range of positioning, making them hardly adapted for pick-and-place for large distance. The core of this paper is to fulfil the requirement of high range, high resolution, and controlled microgrippers. For that, a microgripper based on a combination of the thermal and the piezoelectric actuations is developed. To improve the positioning accuracy and to control the manipulation force during a pick-and-place task, a new control scheme adapted for the actuators of the new microgripper is proposed. It is noticed that the proposed control scheme can also be applied to classical microgrippers as it is a generalization.

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Development and Dynamic Modeling of a New Hybrid Thermopiezoelectric Microactuator

Rakotondrabe

Ivan

2010

IEEE Trans. Robot.

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This paper presents a new hybrid micro-actuator based on the combination of piezoelectric and thermal effects. The proposed actuator can perform both a high stroke coarse positioning through the thermal actuation, and a high resolution fine positioning through the piezoelectric actuation. The micro-actuator structure is a unimorph piezoelectric cantilever, which also constitutes a thermal bimorph that is very sensitive to temperature variation. While electrical voltage is used to control the piezoelectric actuation, we use a Peltier module to provide the temperature variation and to control the thermal functioning. In order to understand the behavior of the hybrid actuator, a model is developped. For better precision but at the same time for model simplicity, the thermal part is modeled with the thermal network whereas the Prandtl-Ishlinskii hysteresis approach is used to model the nonlinearity of the piezoelectric part. Finally, a series of experimental results validate the developed model.

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Principle, characterization and control of a new hybrid thermo-piezoelectric microactuator

Cited by 3 publications

References 15 publications

Microgripper design and evaluation for automated µ-wire assembly: a survey

Microgripper design and evaluation for automated µ-wire assembly: a survey

Development and Force/Position Control of a New Hybrid Thermo-Piezoelectric MicroGripper Dedicated to Micromanipulation Tasks

Development and Dynamic Modeling of a New Hybrid Thermopiezoelectric Microactuator

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