Design and manufacturing of mobile micro manipulation system with a compliant piezoelectric actuator based micro gripper

This paper presents a new design of mobile micro manipulation system for robotic micro assembly where a compliant piezoelectric actuator based micro gripper is designed for handling the miniature parts and compensation of misalignment during peg-in-hole assembly is done because piezoelectric actuator has capability of producing the displacement in micron range and generates high force instantaneously. This adjusts the misalignment of peg during robotic micro assembly. The throughput/speed of mobile micro manipulation system is found for picking and placing the peg from one hole to next hole position. An analysis of piezoelectric actuator based micro gripper has been carried out where voltage is controlled through a proportional-derivative (PD) controller. By developing a prototype, it is demonstrated that compliant piezoelectric actuator based micro gripper is capable of handling the peg-in-hole assembly task in a mobile micro manipulation system.     

分割电极片状压电致动器——(二)位移特性及狭缝宽度对其影响的实验研究

研究了悬臂梁式分割电极片状压电致动器的位移特性。理论分析表明，分割电极狭缝宽度会减小致动器自由端的位移输出，但当狭缝宽度小于致动器电极宽度的１０％时，可忽略狭缝宽度的影响。致动器端部位移的测试结果大于理论计算值。与现有磁头悬浮臂尺寸相近的致动器，在２０Ｖ～５０Ｖ的电压驱动下均可获得１μｍ～２μｍ的致动位移。对９８５０道／厘米的密度磁盘，该位移能覆盖至少一个磁道宽度，满足磁头定位两级伺服系统对第二级致动器位移的基本要求。     

电致伸缩陶瓷微位移器非线性的数值方法补偿

本文通过对电致伸缩陶瓷材料的非线性进行分析。找到了补偿电致伸缩陶瓷非线性的数值方法，并对不同回程大小的电滞回线进行了分段处理，使补偿结果更为精确。     

可变波长光纤光栅滤波器用微驱动器的研制

为了研制可调谐光纤光栅滤波器而采用拉伸装置和光纤光栅一体化的微小器件结构。实现方法是由微细加工技术加工制造一种新的波长可变光纤光栅滤波器用驱动器，该微型驱动器采用电磁式驱动，由上下两层线圈构成，每个线圈有21匝平面线圈，产生约0．2μNm的扭矩，对应光纤光栅的反射波长变化约5nm。它可应用于可谓谐光纤光栅滤波器的驱动。     

High‐Tech‐Cellulose‐Funktionspolymere nach dem ALCERU®‐Verfahren

Functional High‐Tech‐Cellulose materials by the ALCERU® process Cellulose is one of the eldest materials of mankind. While the use of cellulose in former times was focused on application as a more construction or as a more textile material at present time the application profile turns to a more functional material using the ALCERU® process. Shaping of pure cellulose dissolution in NMMNO permits the manufacturing of materials for upholstery, filtration or biodegradable film strips having an uniform cross section. Fibreds, which can be applied in several packaging materials, are available using different techniques for regeneration cellulose. A great field of innovative functional cellulose materials is opened up by addition of several functional additives to cellulose dissolution. In this way piezo‐electrical conductive cellulose fibres (PZT) or high‐temperature filtration membranes are to be generated if one adds special types of ceramic powders. Above all PZT green fibres are applied in more recent uses as sensors or actuators. Electrically conductive cellulose fibres or filaments, which can be also used in the textile chain, can be prepared adding conductive carbon black to a cellulose dope on the same way, too. Cellulose material having adapted conductivity to different application is available by adding an exact defined amount of carbon black to cellulose dissolution. Finally cellulose beads can be manufactured by means of varied shaping technique. The beads are showing variable particle sizes and narrow pore size distribution. These properties open up very interesting application in the field of human blood purification or chromatography.     

Effect of Li+ ions on structure,properties, and actuation of cellulose electro‐active paper actuator

We have reported an electro‐active paper actuator from regenerated cellulose. After dissolving cellulose fibers with a solution of lithium chloride in N,N‐dimethylacetamide, cellulose was regenerated by combining distillation of cellulose solution along with washing with the mixture of deionized water, isopropyl alcohol, and running water. However, the effect of Li⁺ ions on structure, properties, and the actuation behavior of the actuator was not studied. This article describes the changes in these parameters when the Li⁺ ions are removed by subjecting it to different running water exposure time. The structure and properties of cellulose electro‐active paper and its actuation behavior were studied. As Li⁺ ions content reduced from 4354.17 to 10.26 ppm by increasing the exposure time of running water, crystallinity, Young's modulus, and bending displacement decreased. Details about the investigation have been explained. This elimination of ions is important to increase the piezoelectric effect in EAPap by decreasing the ion migration effect. © 2008 Wiley Periodicals, Inc. J Appl Polym Sci 2008     

Tactile display with tangential and normal skin displacement for robot-assisted surgery

This paper proposes a tactile display providing both shear and normal feedback to the fingertip for generating three-axis tactile feedback during teleoperation of a surgical robot. The display is composed of five balloons actuated by controlling the pneumatic pressure. The implemented display is 18?mm?×?18?mm?×?15?mm. This size is suitable for mounting the display onto the master controls of a surgical robot. The maximum normal and shear displacements are 2 and 1.3?mm, respectively. The proposed tactile display may provide perceivable stimuli to a human finger pad in all five directions: normal, distal, proximal, radial, and ulnar. This paper also reports on the results of psychophysical measurement of the minimum perceivable movement of the developed tactile display for each of the five directions.     

Development of large-scale stacked-type electrostatic actuators for use as artificial muscles

Electrostatic actuators have the advantages of light weight, flexibility, and high energy efficiency, which make them suitable for use as artificial muscles. However, a traditional electrostatic actuator cannot generate long strokes and a high force density at the same time because such actuator would excessively widen the gap between the electrodes because of its structure. This paper presents a newly developed large-scale stacked-type electrostatic actuator (LSEA) intended for use as an artificial muscle for robots. LSEA is a multi-stacked electrostatic actuator that can be linearly contracted by the application of a voltage. It has a unique structure that prevents overextension of the gap between the electrodes. It can therefore generate a large force. The spring characteristics and the relationship between the contractive force and the stroke were experimentally determined. The findings showed that LSEA prevents the overextension of the gap between the electrodes and has a high contraction ratio that is equivalent to that of a mammalian skeletal muscle.     

A virtual actuator and sensor approach for fault tolerant control of LPV systems

In this paper, a fault tolerant control (FTC) strategy using virtual actuators and sensors for linear parameter varying (LPV) systems is proposed. The main idea of this FTC method, initially developed for LTI systems, is to reconfigure the control loop such that the nominal controller could still be used without need of retuning it. The plant with the faulty actuator/sensor is modified adding the virtual actuator/sensor block that masks the actuator/sensor fault. The suggested technique is an active FTC strategy that reconfigures the virtual actuator/sensor on-line taking into account faults and operating point changes. The stability of the reconfigured control loop is guaranteed if the faulty plant is stabilizable/detectable. The LPV virtual actuator/sensor is designed using polytopic LPV techniques and linear matrix inequalities (LMIs). A two-tank system simulator is used to assess the performance of the proposed method. In particular, it is shown that the application of the proposed technique results in an improvement, in terms of performance, with respect to the LTI counterpart.     

存在飞轮安装偏差与故障的卫星姿态容错控制

基于滑模控制理论提出一种刚体卫星姿态稳定控制方法,实现对反作用飞轮部分失效故障的容错控制,以及对其安装偏差的补偿控制,并从理论上证明了所设计的控制器在有限时间内能够实现对闭环姿态控制系统的几乎全局渐近稳定控制.最后将所设计的控制器应用于某型卫星姿态稳定任务,仿真结果验证了所提出方法的有效性.