A smart microrobot on chip: design, identification and modeling

Author

Agnus, Joël ; Breguet, Jean-Marc ; Chaillet, Nicolas ; Cois, Olivier ; Lit, Pierre De ; Ferreira, Antoine ; Melchior, Pierre ; Pellet, Claude ; Sabatier, Jocelyn

Author_Institution

Lab. d´´Autom. de Besancon, CNRS, Besancon, France

Volume

2

fYear

2003

fDate

20-24 July 2003

Firstpage

685

Abstract

This paper deals with the MOC, microrobot on chip concept, which corresponds to the development of compact, inexpensive and easily "plug and use" microrobotic chips (as it is the usual case with electronic chips). A first prototype of a six degrees of freedom micromanipulator MOC (MMOC) illustrates this concept. The MMOC has six actuated degrees of freedom (DOF): one scanning stage can moves the gripper in XY axes, and the gripper itself has two YZ DOF per finger. The first prototype of MMOC is electrically and mechanically connected on a smart card reader.

Keywords

grippers; identification; micromanipulators; microrobots; position control; robust control; 6 DOF micromanipulator; CRONE command; electrically connection; gripper; identification; mechanically connection; microrobot on chip; piezoelectric microgripper; scanning stage; smart card reader; smart microrobot; Assembly; Control systems; Grippers; Instruments; Manipulator dynamics; Microassembly; Micromanipulators; Production; Prototypes; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on

Print_ISBN

0-7803-7759-1

Type

conf

DOI

10.1109/AIM.2003.1225426

Filename

1225426