Distributed Manipulation Algorithms for Massively Parallel Microfabricated Actuator Arrays

大规模并行微加工执行器阵列的分布式操纵算法

• 批准号: 9530785
• 负责人: Bruce Donald
• 金额: $ 24.77万
• 依托单位: Cornell University
• 依托单位国家: 美国
• 项目类别: Continuing grant
• 财政年份: 1996
• 资助国家: 美国
• 起止时间: 1996-06-01 至 1998-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9530785&HistoricalAwards=false
• 关键词: Distributed; Manipulation; Algorithms; Massively; Parallel

This research investigates manipulation tasks with arrays of micro electromechanical structures (MEMS). The PIs are developing a geometric model for the mechanics of micro actuators and a theory of massively parallel manipulation, and will develop efficient algorithms for their evaluation. They have designed, built, and tested prototype microfabricated actuators, and will demonstrate control strategies to manipulate small objects. In particular, the research will develop and implement sensorless actuator array control strategies to efficiently orient flat parts in the plane. The main objective of the research concerns the development of a science base for micro-scale manipulation. Manipulation strategies with reduced sensing have been highly successful in industrial manufacturing, e.g. in vibratory bowl feeders, or in systems such as the Sony APOS system. These strategies will be extended to the micro scale. A dense array of devices can be modeled as a vector field. The flow this field induces on a rigid body will be analyzed to develop, evaluate, and extend a theory of manipulation with micro-actuator arrays. It will be shown how simple actuator control strategies can be used to uniquely orient a part up to symmetry without sensor feedback. The manipulation algorithms are based on a theory of programmable vector fields, which is applicable to a wide range of micro-actuator arrays. The algorithms will be impl emented on physical micro-arrays to validate the theory. Strategies for orienting, sorting, and singulating parts using micro-arrays will be designed, implemented, and tested.

本研究探讨微机电结构（MEMS）阵列的操作任务。 PI正在开发微致动器力学的几何模型和大规模并行操作的理论，并将开发有效的算法进行评估。 他们 有 设计， 建造， 和 测试 原型微制造执行器，并将展示控制策略，以操纵小物体。特别是，该研究将开发和实施无传感器致动器阵列控制策略，以有效地定位平面部件。该研究的主要目标是为微尺度操纵建立科学基础。 具有减少的感测的操纵策略在工业制造中已经非常成功，例如在振动碗式给料机中，或在诸如Sony APOS系统的系统中。 这些战略将扩展到微观尺度。 密集的设备阵列可以被建模为矢量场。 这个领域引起的流动刚体将进行分析，开发，评估和扩展的理论与微致动器阵列的操作。 它将显示如何简单的致动器控制策略可以用来唯一地定向一部分对称，没有传感器反馈。操作算法是基于可编程矢量场的理论，这是适用于广泛的微致动器阵列。将在物理微阵列上实现该算法以验证理论。 使用微阵列的定向，分类和分离部件的策略将被设计，实施， 和测试。