Design and control of compliant microrobots

Author

Calin, Mihai ; Chaillet, Nicolas ; Bourjault, Alain ; Bertsch, Arnaud ; Zissy, Sophie

Author_Institution

Lab. IMFC, CNRS, Besancon, France

Volume

2

fYear

1996

fDate

18-21 Nov 1996

Firstpage

489

Abstract

This paper deals with the design, building and control of compliant microrobots. Some prototypes of micromodules and microrobots using the micro-stereophotolithography technology were developed. The mechanical structure of these microrobots are made in polymer and the actuators are made of shape memory alloy wires. Some examples are presented in the paper. They are typically 2 mm to 700 μm in diameter and are compliant structures including a deforming joint. Our present research concerns with the control of compliant motions of such microsystems using neural networks with an extension to the integrated design of microrobots

Keywords

adaptive control; bond graphs; compliance control; microactuators; motion control; neurocontrollers; robot dynamics; robot kinematics; shape memory effects; actuators; adaptive control; compliant motion control; deforming joint; dynamics; kinematics; micromodules; microrobots; neural bond graph; neural networks; polymer; shape memory alloy wires; stereophotolithography; Actuators; Assembly; Buildings; Force control; Grippers; Motion control; Neural networks; Polymers; Prototypes; Wires;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies and Factory Automation, 1996. EFTA '96. Proceedings., 1996 IEEE Conference on

Conference_Location

Kauai, HI

Print_ISBN

0-7803-3685-2

Type

conf

DOI

10.1109/ETFA.1996.573855

Filename

573855