Mehatronički pristup pozicioniranju ultravisokih preciznosti i točnosti

Ultra-high precision mechatronics positioning systems are critical devices in current precision engineering and micro- and nano-systems’ technologies, as they allow repeatability and accuracy in the nanometric domain to be achieved. The doctoral thesis deals thoroughly with nonlinear stochastic frictional effects that limit the performances of ultra-high precision devices based on sliding and rolling elements. The state-of-the-art related to the frictional behavior in the pre-sliding and sliding motion regimes is considered and different friction models are validated. Due to its comprehensiveness and simplicity, the generalized Maxwell-slip (GMS) friction model is adopted to characterize frictional disturbances of a translational axis of an actual multi-degrees-of-freedom point-to-point mechatronics positioning system aimed at handling and positioning of microparts. The parameters of the GMS model are identified via innovative experimental set-ups, separately for the actuator-gearhead assembly and for the linear guideways, and included in the overall MATLAB/SIMULINK model of the used device. With the aim of compensating frictional effects, the modeled responses of the system are compared to experimental results when the system is controlled by means of a conventional proportional-integral-derivative (PID) controller, when the PID controller is complemented with an additional feed-forward model-based friction compensator and, finally, when the system is controlled via a self-tuning adaptive regulator. The adaptive regulator, implemented within the real-time field programmable gate array based control system, is proven to be the most efficient and is hence used in the final repetitive point-to-point positioning tests. Nanometric-range precision and accuracy (better than 250 nm), both in the case of short-range (micrometric) and long-range (millimeter) travels, are achieved. Different sensors, actuators and other design components, along with other control typologies, are experimentally validated in ultra-high precision positioning applications as well.Mehatronički sustavi ultra-visokih (nanometarskih) preciznosti i točnosti pozicioniranja su u današnje vrijeme vrlo važni u preciznom inženjerstvu i tehnologiji mikro- i nano-sustava. U disertaciji se temeljito analiziraju nelinearni stohastički učinci trenja koji vrlo često ograničavaju radna svojstva sustava za precizno pozicioniranje temeljenih na kliznim i valjnim elementima. Analizira se stanje tehnike za pomake pri silama manjim od sile statičkog trenja, kao i u režimu klizanja, te se vrednuju postojeći matematički modeli trenja. U razmatranom slučaju mehatroničkog sustava ultra-visokih preciznosti i točnosti pozicioniranja, namijenjenog montaži i manipulaciji mikrostruktura, trenje koje se javlja kod linearnih jednoosnih pomaka se, zbog jednostavnosti i sveobuhvatnosti toga pristupa, modelira generaliziranim Maxwell-slip (GMS) modelom trenja. Parametri GMS modela se identificiraju na inovativnim eksperimentalnim postavima, i to posebno za pokretački dio analiziranog sustava, koji se sastoji od istosmjernog motora s reduktorom, te posebno za linearni translator. Rezultirajući modeli trenja se zatim integriraju u cjeloviti model sustava implementiran u MATLAB/SIMULINK okruženju. S ciljem minimizacije utjecaja trenja, modelirani odziv sustava uspoređuje se potom s eksperimentalnim rezultatima dobivenim na sustavu reguliranom pomoću često korištenog proporcionalno-integralno-diferencijalnog (PID) regulatora, kada se sustav regulira po načelu unaprijedne veze, te kada se regulira prilagodljivim upravljačkim algoritmom. Regulator s prilagodljivim vođenjem, implementiran unutar stvarno-vremenskog sustava temeljenog na programibilnim logičkim vratima, pokazao se kao najbolje rješenje te se stoga koristi u uzastopnim eksperimentima pozicioniranja iz točke u točku, koji predstavljaju željenu funkcionalnost razmatranog sustava. Postignute su tako nanometarska preciznost i točnost (bolje od 250 nm) i to kako kod kraćih (mikrometarskih), tako i duljih (milimetarskih) pomaka. U završnom se dijelu disertacije eksperimentalno analizira i mogućnost korištenja drugih pokretača, osjetnika i strojnih elemenata kao i različitih upravljačkih pristupa pogodnih za ostvarivanje ultra-visokih preciznosti i točnosti pozicioniranja

Mehatronički pristup pozicioniranju ultravisokih preciznosti i točnosti

Ultra-high precision mechatronics positioning systems are critical devices in current precision engineering and micro- and nano-systems’ technologies, as they allow repeatability and accuracy in the nanometric domain to be achieved. The doctoral thesis deals thoroughly with nonlinear stochastic frictional effects that limit the performances of ultra-high precision devices based on sliding and rolling elements. The state-of-the-art related to the frictional behavior in the pre-sliding and sliding motion regimes is considered and different friction models are validated. Due to its comprehensiveness and simplicity, the generalized Maxwell-slip (GMS) friction model is adopted to characterize frictional disturbances of a translational axis of an actual multi-degrees-of-freedom point-to-point mechatronics positioning system aimed at handling and positioning of microparts. The parameters of the GMS model are identified via innovative experimental set-ups, separately for the actuator-gearhead assembly and for the linear guideways, and included in the overall MATLAB/SIMULINK model of the used device. With the aim of compensating frictional effects, the modeled responses of the system are compared to experimental results when the system is controlled by means of a conventional proportional-integral-derivative (PID) controller, when the PID controller is complemented with an additional feed-forward model-based friction compensator and, finally, when the system is controlled via a self-tuning adaptive regulator. The adaptive regulator, implemented within the real-time field programmable gate array based control system, is proven to be the most efficient and is hence used in the final repetitive point-to-point positioning tests. Nanometric-range precision and accuracy (better than 250 nm), both in the case of short-range (micrometric) and long-range (millimeter) travels, are achieved. Different sensors, actuators and other design components, along with other control typologies, are experimentally validated in ultra-high precision positioning applications as well.Mehatronički sustavi ultra-visokih (nanometarskih) preciznosti i točnosti pozicioniranja su u današnje vrijeme vrlo važni u preciznom inženjerstvu i tehnologiji mikro- i nano-sustava. U disertaciji se temeljito analiziraju nelinearni stohastički učinci trenja koji vrlo često ograničavaju radna svojstva sustava za precizno pozicioniranje temeljenih na kliznim i valjnim elementima. Analizira se stanje tehnike za pomake pri silama manjim od sile statičkog trenja, kao i u režimu klizanja, te se vrednuju postojeći matematički modeli trenja. U razmatranom slučaju mehatroničkog sustava ultra-visokih preciznosti i točnosti pozicioniranja, namijenjenog montaži i manipulaciji mikrostruktura, trenje koje se javlja kod linearnih jednoosnih pomaka se, zbog jednostavnosti i sveobuhvatnosti toga pristupa, modelira generaliziranim Maxwell-slip (GMS) modelom trenja. Parametri GMS modela se identificiraju na inovativnim eksperimentalnim postavima, i to posebno za pokretački dio analiziranog sustava, koji se sastoji od istosmjernog motora s reduktorom, te posebno za linearni translator. Rezultirajući modeli trenja se zatim integriraju u cjeloviti model sustava implementiran u MATLAB/SIMULINK okruženju. S ciljem minimizacije utjecaja trenja, modelirani odziv sustava uspoređuje se potom s eksperimentalnim rezultatima dobivenim na sustavu reguliranom pomoću često korištenog proporcionalno-integralno-diferencijalnog (PID) regulatora, kada se sustav regulira po načelu unaprijedne veze, te kada se regulira prilagodljivim upravljačkim algoritmom. Regulator s prilagodljivim vođenjem, implementiran unutar stvarno-vremenskog sustava temeljenog na programibilnim logičkim vratima, pokazao se kao najbolje rješenje te se stoga koristi u uzastopnim eksperimentima pozicioniranja iz točke u točku, koji predstavljaju željenu funkcionalnost razmatranog sustava. Postignute su tako nanometarska preciznost i točnost (bolje od 250 nm) i to kako kod kraćih (mikrometarskih), tako i duljih (milimetarskih) pomaka. U završnom se dijelu disertacije eksperimentalno analizira i mogućnost korištenja drugih pokretača, osjetnika i strojnih elemenata kao i različitih upravljačkih pristupa pogodnih za ostvarivanje ultra-visokih preciznosti i točnosti pozicioniranja

NASA Tech Briefs, July 1996

Topics covered include: Mechanical Components; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery/Automation; Manufacturing/Fabrication; Mathematics and Information Sciences; Life Sciences; Books and Report

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field

NASA Tech Briefs, December 1992

Topics include: Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences; Life Sciences

NASA Tech Briefs, June 1992

Topics covered include: New Product Ideas; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences; Life Sciences

NASA Tech Briefs, February 1992

Topics covered include: New Product Development; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences; Life Sciences

Development of a Micro-Step Voltage-Fed Actuator with a Novel Stepper Motor for Automobile AGS Systems

This paper presents an improved micro-step voltage-fed actuator for an automobile active grill shutter (AGS) system. A novel structured stepper motor, which contains both the main and auxiliary teeth in the stator, is proposed for the actuator. In a normal permanent magnet (PM) motor coils are generally wound on all the stator teeth, however, in the proposed motor, the winding is only on the main teeth. Because of the absence of coils in the auxiliary teeth, the proposed stepper motor possesses the following advantages: simple structure, lighter weight, smaller volume, and less time consumption. The unique auxiliary poles in the stepper motor supply the flux path to increase the step resolution even without any coils. The characteristics of the proposed stepper motor were investigated using finite element analysis. In particular, the effect of the magnetization distribution of the PM on the motor performance was investigated during the analysis. Cogging torque, which causes noise and vibration issues, was minimized by the tooth-shape optimization. In addition, a micro-step voltage-fed algorithm was implemented for a high-resolution position control. By employing a current close to a sine wave using space vector pulse-width modulation, a high-quality current waveform with a high resolution was obtained. Finally, the proposed prototype was fabricated, and the cogging torque, back-electromotive force, and current characteristics were measured by mounting the prototype on the AGS system. Both the analysis and experimental results validate the performance improvement from the proposed motor and its possible application for the flap control of the AGS system

Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications