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Control issues in the micro/nano nano- -world, ICRA09, world, ICRA09, May 17 2009 May 17 2009 Control issues in the micro/ Towards the mechanical and control- -oriented oriented Towards the mechanical and control optimization of


  1. Control issues in the micro/nano nano- -world, ICRA09, world, ICRA09, May 17 2009 May 17 2009 Control issues in the micro/ Towards the mechanical and control- -oriented oriented Towards the mechanical and control optimization of micromechatronic micromechatronic systems systems optimization of for robust control for robust control Mathieu Grossard, Nicolas Chaillet, Mehdi Boukallel Boukallel, Arnaud Hubert, Christine , Arnaud Hubert, Christine Rotinat Rotinat- -Libersa Libersa Mathieu Grossard, Nicolas Chaillet, Mehdi Institut femto- -st, UMR CNRS 6174, Besan st, UMR CNRS 6174, Besanç çon on Institut femto Automatic Automatic Control and Control and Micro Micro- -Mechatronic Mechatronic Systems Systems Department Department CEA List, Fontenay- CEA List, Fontenay -aux aux- -Roses Roses Interactive Robotics Interactive Robotics Unit Unit mathieu.grossard@cea.fr mathieu.grossard@cea.fr 1/28 DTSI / Interactive Robotics Unit DTSI / Interactive Robotics Unit ensm m ensmm

  2. 1. General introduction Integration in micromechatronics � Micromechatronic � interdisciplinary scientific area Regulator Regulator � microrobotic : one application domain Placement Placement Placement Placement � Evolution to the concept of adaptronics � functional elements of a classic regulation process into one single system Actuator Actuator Sensor Sensor Active Active material material � functional integration Intégration n n � Concept of « Smart structure » o o Integration Integration i i ���� ��!�� ����������� t t a a r r Mechanical Mechanical g g ���� e e t t ��� n n I I structure structure �������� �������� ��������� ��������� ������ ������ ��� ��� ���������� ���������� ������������� ������� ������� ������������� 2/28 DTSI / Interactive Robotics Unit ensm m

  3. 1. General introduction Design specificities of microrobots � Mechatronic design � flexible mechanisms � avantage of monolithic structures • fabrication, • simplified maintenance [Huang 06] � no backlash � actuation and sensing functions � weak encumbrance but high resolution � active material technologies [Nah 07] � Control of microrobots � scale effects � difficulties of obtaining dynamic model Piezoelectric actuator � difficulties of sensor integration � environment influence and variability [Agnus 02] � non-linear behavior of active materials � Multidisciplinary design � complex specifications � non-intuitive design [Shacklock 05] 3/28 DTSI / Interactive Robotics Unit ensm m

  4. 1. General introduction Analysis and synthesis approach %���������!����&� ��� '���#��� ���#������ ������� �������� �������� �������� ����������� ��������� ���������������� ������ �������� "#������������ ������� ����� %�������������� �����!������� ����� ��������� �������� ���� ������������� ���������� ��$����!�� ��������� ��������� ��������� �������������� ���������� ����������� ������� ���������� 4/28 DTSI / Interactive Robotics Unit ensm m

  5. 1. General introduction Positioning towards the problem (1/2) � Development of an optimal ���("� ���("� synthesis method : FlexIn � design of 2D monolithic flexible structures with integrated actuation �������������� ������������ F o2 � choice of the piezoelectric actuation F o1 [Bernardoni 04] � good performances in the micromechatronic sense resolution, force, bandwidth, … � electromechanical behavior known • mixte FE formulation � control by voltage � known prototyping process 5/28 DTSI / Interactive Robotics Unit ensm m

  6. 1. General introduction Positioning towards the problem (2/2) � Integration of the dynamic part in the method � description through a dynamical model � prediction of the frequency response function � new criteria � orientation of the frequency response function 6/28 DTSI / Interactive Robotics Unit ensm m

  7. Plan 1. Building blocks method 2. Optimal synthesis of active structures under FlexIn 3. Optimal synthesis with dynamic considerations 4. Design and control of a micro-actuator prototype 5. Conclusion and perspectives 5 7 DTSI / Interactive Robotics Unit DTSI / Interactive Robotics Unit ensmm ensmm

  8. 1. Building-block method General approach � Flexible structures design with FlexIn Mechanical output curvilinear representation representation of the of the curvilinear structures structures internal contacts 2mm [Bernardoni 04] CAD representation CAD representation Cutting out out into into elementary elementary building blocks : building blocks : Cutting � elementary building block � actuator boundary conditions � contacts Fixed nodes � fixed nodes boundary conditions � mechanical output Actuator movement 8/28 DTSI / Interactive Robotics Unit ensm m

  9. 1. Building-block method Building blocks method � Design domain decomposition ����������� ������� �������������� )����*�+�#�����+���������+������������, ��������!������������������� ��������� � Elementary flexible blocks library � 36 blocks topologies ��������������� � �. � multiple and coupled DOF b b � �- � Optimal design b 1 b 2 b 3 b 4 F o2 �������������� ����������"����� � Pareto front ����#���������� %"����� ����� � validation Front de Pareto: bloc : assemblage ����������� �������#����� solutions de rang 1 de poutres ���������� a 2 � prototyping $���������� a b ���������� ����������/����������� élémentaires )������������� ����# ������0�, a 1 ������� ��#� F o1 9/28 DTSI / Interactive Robotics Unit ensm m

  10. Plan 1. Building blocks method 2. Optimal synthesis of active structures under FlexIn 3. Optimal synthesis with dynamic considerations 4. Design and control of a micro-actuator prototype 5. Conclusion and perspectives 5 10 DTSI / Interactive Robotics Unit DTSI / Interactive Robotics Unit ensmm ensmm

  11. 2. Optimal synthesis of active structures under FlexIn Implementation of an active library � Active blocks of various topologies Bloc 1 Bloc 2 Bloc 3 Bloc 4 Bloc 6 Bloc 10 Bloc 5 � actuation mode Passive blocks � distributed planar actuation Bloc 7 Bloc 8 Bloc 9 Bloc 11 Bloc 12 Bloc 14 Bloc 13 � controlled by electric voltage U p Bloc 20 Bloc 21 Bloc 15 Bloc 17 Bloc 16 Bloc 18 Bloc 19 U U p Bloc 23 Bloc 24 Bloc 22 Bloc 26 Bloc 27 Bloc 25 Bloc 28 p U p U p Bloc 33 Bloc 30 Bloc 34 Bloc 31 Bloc 35 Bloc 29 Bloc 32 Bloc 36 Active blocks Bloc 4 Bloc 3 Bloc 5 Bloc 9 Bloc 10 Bloc 11 Bloc 14 Bloc 15 Bloc 16 Bloc 29 Bloc 30 Bloc 12 Bloc 13 Bloc 31 Bloc 32 Bloc 33 Bloc 34 Bloc 35 Bloc 36 11/28 DTSI / Interactive Robotics Unit ensm m

  12. 2. Optimal synthesis of active structures under FlexIn Implementation under FlexIn � Elementary active blocks PZT � Assembly of elementary blocks piezoelectric beam active / passive topologies � Code of a complete structure � monolithic structure : assembly of active and passive blocks � active/passive topologies Integer matrix 1 1 3 3 3 3 0 0 5 5 6 6 12 12 33 33 12/28 DTSI / Interactive Robotics Unit ensm m

  13. Plan 1. Building blocks method 2. Optimal synthesis of active structures under FlexIn 3. Optimal synthesis with dynamic considerations 4. Design and control of a micro-actuator prototype 5. Conclusion and perspectives 5 13 DTSI / Interactive Robotics Unit DTSI / Interactive Robotics Unit ensmm ensmm

  14. 3. Optimal synthesis with dynamic considerations Implementation of the dynamic part � Second order dynamic model � transfer matrix : modal expansion F Q Q E t p ∑ y u = g i i g + + 2 2 ξ ω s ω 2 s = i 1 i i i � input/ouput frequency reponse simulation 14/28 DTSI / Interactive Robotics Unit ensm m

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