DESIGN AND CONTROL OF A MOBILE MICROMANIPULATOR DRIVEN BY ULTRASONIC MOTORS WITH MULTIDEGREES OF FREEDOM

Authors
Citation
A. Ferreira, DESIGN AND CONTROL OF A MOBILE MICROMANIPULATOR DRIVEN BY ULTRASONIC MOTORS WITH MULTIDEGREES OF FREEDOM, Advanced robotics, 12(2), 1998, pp. 115-133
Citations number
23
Language
INGLESE
art.tipo
Article
Categorie Soggetti
Robotics & Automatic Control","Robotics & Automatic Control
Journal title
ISSN journal
0169-1864
Volume
12
Issue
2
Year of publication
1998
Pages
115 - 133
Database
ISI
SICI code
0169-1864(1998)12:2<115:DACOAM>2.0.ZU;2-C
Abstract
A miniature mobile micromanipulator system for performing submillimete r grasping and manipulation tasks has been designed and tested. The sy stem consists of a two-fingered gripper attached to a 5 d.o.f, robot m icromanipulator. Features of the system include: (i) the structure of the mobile micromanipulator is composed of high-precision ultrasonic a ctuators with several degrees of freedom (d.o.f.) (this makes the robo t system easy to integrate and allows it to perform directed and preci se translation motion or rotation in a plane or in space); (ii) the el ectronic drivers, based on a bidimensional PWM control architecture, a llows us to command the multidirectional manipulator movement accurate ly, and, through them, to control the position and orientation of the gripper; and (iii) the gripper is actuated by a shape memory alloy act uator and employs strain gage sensors to perform the gripping force co ntrol. The prototype version of this mobile micromanipulator can perfo rm micrometer movements with speeds in the range of few mm/s to severa l 10(-1) m/s and manipulates objects in the size range of 2-0.5 mm. Th e design of the micromanipulator affords plenty of scope for further m iniaturization. With the recent increased interest that has been shown in micro-robotics, the prototype robot system described in this paper could, with further development and miniaturization, form part of a m icro-robot assembly system.