DocumentCode :
3709935
Title :
Nonlinear modeling for a class of nano-robotic systems using piezoelectric stick-slip actuators
Author :
Tianming Lu;Mokrane Boudaoud;David Hériban;Stéphane Régnier
Author_Institution :
Institut des Systè
fYear :
2015
Firstpage :
6020
Lastpage :
6025
Abstract :
This paper addresses modeling issues for a class of nano-robotic systems using piezoelectric stick-slip actuators. The work focuses on the friction force modeling to describe the dynamics of a stick-slip actuator in a wide operating range needed in nano-robotics. Based on the theory of the single state elasto-plastic model and on an experimental analysis, necessary conditions on presiding modeling are highlighted. The conditions allow describing the dynamics of stick-slip type actuators for both scanning mode and stepping mode in the time and the frequency domains and for backward and forward directions of the motion. The proposed dynamic model opens new perspective for closed loop control of nano-robotic system.
Keywords :
"Friction","Actuators","Mathematical model","Force","Solid modeling","Dynamics","Hysteresis"
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
Type :
conf
DOI :
10.1109/IROS.2015.7354234
Filename :
7354234
Link To Document :
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