Design Modeling And Position Control Of A Magnetically Actuated Five Axis Compliant Micro Manipulator
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Design Modeling And Position Control Of A Magnetically Actuated Five Axis Compliant Micro Manipulator
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Author : Yanhai Ren
language : en
Publisher:
Release Date : 2016
Design Modeling And Position Control Of A Magnetically Actuated Five Axis Compliant Micro Manipulator written by Yanhai Ren and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.
Atomic force microscope is widely applied in biology, tribology, material science and chemistry areas due to its high spatial resolution, flexible working environment and few constraints on sample properties. Due to the geometry of conventional AFM cantilever, however, the accessibility of the probe is greatly limited, resulting artifacts when scanning samples with large geometry variation and constraints on its flexibility when working as a manipulator. In this research, the design and position control of a novel micro-manipulator is proposed which possesses five DOFs, namely three translational and two rotational DOFs. The manipulator can work as a probe for AFM and actively change the tip orientation such that it always aligns along the normal direction of the sample. In this way the accessibility of the tip will be greatly enlarged to reduce imaging artifacts for samples with large surface variation. Furthermore, it can serve as a manipulator to perform machining and manipulation tasks in 3D space at nanoscale. Specifically, the structure design of the five-axis compliant manipulator and the associated magnetic actuation system are presented. The quasi static and dynamic models of the magnetically actuated manipulator are established and the corresponding current and force inverse models are solved and validated based on FE analysis. At last the position controller in both continuous and discrete time domain is advanced based on feedback linearization. The augmented state estimator is designed to estimate the tipsample interaction force during contact phase when AFM works in tapping mode. The estimated force can be further utilized as a feedback signal to form the outer force control loop. The performance of the position controller is validated by transient analysis in ANSYS.
Design And Implementation Of Large Range Compliant Micropositioning Systems
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Author : Qingsong Xu
language : en
Publisher: John Wiley & Sons
Release Date : 2017-05-01
Design And Implementation Of Large Range Compliant Micropositioning Systems written by Qingsong Xu and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-05-01 with Technology & Engineering categories.
An innovative and timely guide to the modeling, design and implementation of large-range compliant micropositioning systems based on flexure hinges Features innovative compact mechanism designs for large-range translational and rotational positioning Provides original and concise treatment of various flexure hinges with well-presented design and control methods Focuses on design implementation and applications through detailed examples
Applied Mechanics Reviews
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Author :
language : en
Publisher:
Release Date : 1948
Applied Mechanics Reviews written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1948 with Mechanics, Applied categories.
Proceedings
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Author :
language : en
Publisher:
Release Date : 1989
Proceedings written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1989 with Manipulators (Mechanism) categories.
International Aerospace Abstracts
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Author :
language : en
Publisher:
Release Date : 1999
International Aerospace Abstracts written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1999 with Aeronautics categories.
Scientific And Technical Aerospace Reports
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Author :
language : en
Publisher:
Release Date : 1994
Scientific And Technical Aerospace Reports written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1994 with Aeronautics categories.
Journal Of Dynamic Systems Measurement And Control
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Author :
language : en
Publisher:
Release Date : 2005
Journal Of Dynamic Systems Measurement And Control written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005 with Automatic control categories.
Fault Detection Supervision And Safety Of Technical Processes 2003 Safeprocess 2003
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Author : Marcel Staroswiecki
language : en
Publisher: Elsevier
Release Date : 2004-02-27
Fault Detection Supervision And Safety Of Technical Processes 2003 Safeprocess 2003 written by Marcel Staroswiecki and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-02-27 with Science categories.
A three-volume work bringing together papers presented at 'SAFEPROCESS 2003', including four plenary papers on statistical, physical-model-based and logical-model-based approaches to fault detection and diagnosis, as well as 178 regular papers.
Robotics Abstracts
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Author :
language : en
Publisher:
Release Date : 1990
Robotics Abstracts written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1990 with Automation categories.
Proceedings Of The 1988 American Control Conference
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Author :
language : en
Publisher:
Release Date : 1988
Proceedings Of The 1988 American Control Conference written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1988 with Automatic control categories.