Analysis of planned motion trajectories for scalable micro-robots

Prototypes of micro-robots and geometric path planning algorithms are presented in this paper. Geometric motion trajectories are generated by switching contacts, control points and tangents methods. Analysis of high-speed formation of trajectories using switching contacts method revealed that the geometric path depends on orientation angle of a micro-robot. Investigation of formation of high-precision trajectories demonstrated that there is minimal deviation from the given motion trajectory at which micro-robot stops. This paper presents methodologies for evaluation of optimal orientation angle of a micro-robot and minimum deflection from the given trajectory. The methodologies are verified by experiments

Analysis of planned motion trajectories for scalable micro-robots

Prototypes of micro-robots and geometric path planning algorithms are presented in this paper. Geometric motion trajectories are generated by switching contacts, control points and tangents methods. Analysis of high-speed formation of trajectories using switching contacts method revealed that the geometric path depends on orientation angle of a micro-robot. Investigation of formation of high-precision trajectories demonstrated that there is minimal deviation from the given motion trajectory at which micro-robot stops. This paper presents methodologies for evaluation of optimal orientation angle of a micro-robot and minimum deflection from the given trajectory. The methodologies are verified by experiments

Cylindrical piezorobot’s trajectory planning and control

This paper analyses the movement of piezoelectric actuator. The goal of this work was to create an algorithm for trajectory planning of piezorobot, create a system for trajectory control, develop software and verify the functioning of the algorithm in practice. Movements of piezorobot are very small and very frequent therefore it is difficult to measure trajectories using standard equipment. Design of a novel measurement system and trajectory adjustment was created in this paper. An experimental system for control and trajectory movement tracking of piezorobot was developed. It consists of cylindrical piezorobot, control signal forming and image processing system for trajectory tracking. The cylindrical piezorobot moves in specific trajectories on the plane and is controlled with sinusoidal signals. They are generated by trajectory forming and control software using MATLAB and LabVIEW. The control signals are monitored using a system with oscilloscope. The trajectory of piezorobot was monitored and measured using video camera and video processing software developed by LabVIEW. The software contains image processing and object path tracking, and is implemented using LabVEW and MATLAB. Experimental results showed that trajectories forming algorithm and developed control software is suitable for controlling robots moving on plane

Single Cylinder-Type Piezoelectric Actuator with Two Active Kinematic Pairs

There is an ever-increasing demand for small-size, low-cost, and high-precision positioning systems. Therefore, investigation in this field is performed to search for various solutions that can meet technical requirements of precise multi-degree-of-freedom (DOF) positioning systems. This paper presents a new design of a piezoelectric cylindrical actuator with two active kinematic pairs. This means that a single actuator is used to create vibrations that are transformed into the rotation of the sphere located on the top of the cylinder and at the same time ensure movement of the piezoelectric cylinder on the plane. Numerical and experimental investigations of the piezoelectric cylinder have been performed. A mathematical model of contacting force control was developed to solve the problem of positioning of the rotor when it needs to be rotated or moved according to a specific motion trajectory. The numerical simulation included harmonic response analysis of the actuator to analyze the trajectories of the contact points motion. A prototype actuator has been manufactured and tested. Obtained results confirmed that such a device is suitable for both positioning and movement of the actuator in the plane.This article belongs to the Special Issue Piezoelectric Transducers: Materials, Devices and ApplicationsThis research was funded by the European Regional Development Fund according to the supported activity No. 01.2.2-LMT-K-718 under the project No. DOTSUT-234

Trajectories formation for mobile multidimensional piezorobots with nanometer resolution

Pjezoelektriniai judesio keitikliai – rezonansinės sistemos, kurių veikimo principas pagrįstas aukšto dažnio virpesių žadinimu. Disertacijoje tiriamieji pjezorobotai neturi papildomų judesį generuojančių struktūrų, o tik tiesioginius kontakto su statine plokštuma taškus. Kadangi judesio trajektorija yra laužyta, klasikiniai trajektorijų formavimo metodai netinka. Pagrindinis tyrimo objektas yra judesio trajektorijų formavimo metodai. Pagrindinis disertacijos tikslas – sukurti precizinių daugiamačių pjezorobotų judesio trajektorijų formavimo algoritmus. Sukurtų algoritmų taikymo sritis – pjezorobotų judesio modeliavimo ir valdymo programinė įranga. Darbe sprendžiami šie pagrindiniai uždaviniai: pjezorobotų konstrukcijų, veikimo principų bei judesio trajektorijų formavimo metodų analizė; pjezorobotų judesio trajektorijų formavimo algoritmų kūrimas atsižvelgiant į elektrodų segmentų žadinimo schemas. Siekiant išanalizuoti sukurtais algoritmais suformuotas judesio trajektorijas, atliekamas judesio trajektorijų kiekybinių charakteristikų tyrimas. Disertaciją sudaro įvadas, trys skyriai, rezultatų apibendrinimas, naudotos literatūros ir autoriaus publikacijų disertacijos tema sąrašai ir šeši priedai. Įvadiniame skyriuje formuluojama problema, aptariamas darbo aktualumas, aprašomas tyrimų objektas, formuluojamas darbo tikslas bei uždaviniai, aprašoma tyrimų metodika, darbo mokslinis naujumas, darbo rezultatų praktinė reikšmė, ginamieji teiginiai. Įvado pabaigoje pristatomos disertacijos tema autoriaus paskelbtos publikacijos ir pranešimai konferencijose bei disertacijos struktūra. Pirmajame skyriuje analizuojama literatūra apie pjezoelektrinius judesio keitiklius naudojančius judančius robotus, išanalizuotos jų struktūros bei veikimo principai. Pateikti klasikiniai judesio trajektorijų formavimo metodai. Skyriaus pabaigoje formuluojamos išvados. Antrajame skyriuje formuluojamas pjezoroboto judesio trajektorijos formavimo uždavinys. Pateikiami detalūs trajektorijų formavimo algoritmų aprašymai bei matematinio modelio realizavimo rezultatai. Trečiajame skyriuje tiriamos sukurtais algoritmais suformuotų judesio trajektorijų kiekybinės charakteristikos. Pasiūlyta metodika nustatant mažiausią judesio trajektorijos atsilenkimą nuo planuojamos trajektorijos bei parenkant optimalų pjezoroboto orientacijos kampą. Disertacijos tema paskelbti 6 straipsniai: trys – straipsnių rinkiniuose, įtrauktuose į Thomson ISI sąrašą, du – konferencijų medžiagose, referuotose Thomson ISI duomenų bazėje, vienas – recenzuojamame konferencijų leidinyje. Disertacijos tema perskaityti 6 pranešimai Lietuvos bei tarptautinėse konferencijose

Trajectory planning method of rotating mobile piezorobot

This paper presents method of trajectory planning of mobile piezorobots. An algorithm is introduced to evaluate motional trajectory for this kind of robots that describe point-to-point motion by given function. Preliminary experimental results prove the feasibility of proposed mathematical model

Mobilaus piezoroboto trajektorijos planavimo metodas

This paper presents analysis of trajectory planningmethods for mobile robots and new trajectory planning method research for mobile piezorobots. Here are deduced motional simultaneous equations for this kind of robots that describe point-to-pointmotion by given function. Preliminary experimental results prove the feasibility of proposed mathematical model.Darbe analizuojami judančių mikrorobotų trajektorįjų planavimo būdai bei tyrinėjamas naujas trajektorijos planavimo metodas piezorobotui, turinčiam tris judėjimo kontaktus.  Pateikiamos judėjimo lygčių sistemos tokio tipo mobiliems robotams, kurie juda duotąja funkcija.  Eksperimentiniai rezultatai patvirtina matematinio modelio tinkamumą.&nbsp

Design of a mobile microrobot based on standing and travelling waves

The design of a mobile microrobot based on standing and travelling waves is proposed and analysed in this paper. Numerical modelling based on the finite element method is performed to find the resonant frequencies and modal shapes of a microrobot, and to calculate the trajectories of the upper pointsʹ movements under an excitation scheme. Geometric Path‐Planning Algorithms for a piezoelectric hemispheric microrobot and an experimental study of this are presented in this paper

Analysis of planned motion trajectories for scalable micro-robots

Prototypes of micro-robots and geometric path planning algorithms are presented in this paper. Geometric motion trajectories are generated by switching contacts, control points and tangents methods. Analysis of high-speed formation of trajectories using switching contacts method revealed that the geometric path depends on orientation angle of a micro-robot. Investigation of formation of high-precision trajectories demonstrated that there is minimal deviation from the given motion trajectory at which micro-robot stops. This paper presents methodologies for evaluation of optimal orientation angle of a micro-robot and minimum deflection from the given trajectory. The methodologies are verified by experiments