Dynamic modeling and control of a conveyance microrobotic system using active friction drive
Dynamic modeling and control of a conveyance microrobotic system using active friction drive
复制标题
使用主动摩擦驱动的运输微型机器人系统的动态建模和控制
DOI：
10.1109/tmech.2003.812822
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发表时间：
2003
影响因子：
6.4
通讯作者：
J. Fontaine
中科院分区：
文献类型：
--
作者：
Antoine Ferreira;J. Fontaine
提出了一种基于阵列式直驱微型驻波超声驱动器（microSWUMs）协同工作的新一代柔性多自由度压电微输送器。其基于主动摩擦接触力的操作驱动原理提供了微尺度下的直接驱动和低速特性。然而，折衷的是动态建模和控制的复杂性，以科普间歇摩擦驱动机构的优化。提出了一种利用等效机电电路来估算和分析最佳驱动力的方法，包括动态电能和机械能的转换。基于所提出的方法，通过不同的控制器的实施进行微机器人的摩擦驱动优化：1）基于电磁场的预紧控制器，确保最佳的预紧力; 2）开环分段调制控制器，用于自锁和驱动力控制;和3）谐振频率补偿。最后，一个实验研究已经进行了一个原型的超声微输送机纳入48阵列microSWUM的整体尺寸为47 /spl倍/ 29 mm/sup 2/，以证明所提出的优化摩擦驱动。
Presents a new generation of compliant multidegree of freedom piezoelectric microconveyer for microobjects based on the cooperation of arrayed direct-drive micro standing-wave ultrasonic actuators (microSWUMs). Their operating driving principles based on active frictional contact forces offer direct-drive and low-speed characteristics at the microscale. The tradeoff, however, is the complexity of dynamic modeling and control to cope with the optimization of the intermittent friction drive mechanism. A method using an equivalent electromechanical circuit is proposed for estimating and analyzing the optimum driving force, including the dynamic electrical and the mechanical energy conversions. On the basis of the proposed method, the friction drive optimization of the microrobot is performed through the implementation of different controllers: 1) an electromagnetic-field-based preload controller ensuring optimal preload; 2) an open-loop piecewise-modulated controller for self locking and driving force control; and 3) a resonant frequency compensation. Finally, an experimental investigation has been performed on a prototype of ultrasonic microconveyer incorporating 48 arrayed microSWUMs whose overall dimensions are 47 /spl times/ 29 mm/sup 2/ in order to demonstrate the proposed optimized friction drive.