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Design of a flexible conveyer microrobot with electromagnetic field-based friction drive control for microfactory stations

Design of a flexible conveyer microrobot with electromagnetic field-based friction drive control... Journal of Micromechatronics , Vol. 1, No. 1, pp. 49– 66 (2000) Ó VSP 2000. Design of a  exible conveyer microrobot with electromagnetic Ž eld-based friction drive control for microfactory stations ANTOINE FERREIRA Laboratoire de Vision et Robotique Ecole Nationale d’Ingénieurs de Bourges 10, Boulevard Lahitolle, 18000 Bourges, France E-mail: antoine.ferreira@ensi-bourges.fr Abstract —This paper proposes and demonstrates the feasibility of a new generation of compliant piezoelectric microconveyers for microobjects based on the cooperation of arrayed direct-drive standing wave ultrasonic motors (microSWUMs). Their operating principles, which combine active frictional contact mechanisms with electromagnetic Ž eld-based friction drive control, are analyzed. A prototype of a planar-type ultrasonic motor incorporating 48 arrayed microSWUMs, whose overall dimensions are 47 £ 29 mm 2 , has been realized through the use of a  exible active metallic sheet (stator) which acts as a mobile platform. An experimental characterization has been carried out in order to identify the main physical and technological limitations speciŽ c to millimeter scale standing wave motors. The corresponding results indicate that powerful force/speed characteristics on the millimeter scale can be expected, i.e. high output force density around 20 mN ¢ mm ¡ 2 , a carried load ratio http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Journal of Micromechatronics Brill

Design of a flexible conveyer microrobot with electromagnetic field-based friction drive control for microfactory stations

Journal of Micromechatronics , Volume 1 (1): 49 – Jan 1, 2000

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Publisher
Brill
Copyright
© 2000 Koninklijke Brill NV, Leiden, The Netherlands
ISSN
1389-2258
eISSN
1568-5632
DOI
10.1163/156856300744669
Publisher site
See Article on Publisher Site

Abstract

Journal of Micromechatronics , Vol. 1, No. 1, pp. 49– 66 (2000) Ó VSP 2000. Design of a  exible conveyer microrobot with electromagnetic Ž eld-based friction drive control for microfactory stations ANTOINE FERREIRA Laboratoire de Vision et Robotique Ecole Nationale d’Ingénieurs de Bourges 10, Boulevard Lahitolle, 18000 Bourges, France E-mail: antoine.ferreira@ensi-bourges.fr Abstract —This paper proposes and demonstrates the feasibility of a new generation of compliant piezoelectric microconveyers for microobjects based on the cooperation of arrayed direct-drive standing wave ultrasonic motors (microSWUMs). Their operating principles, which combine active frictional contact mechanisms with electromagnetic Ž eld-based friction drive control, are analyzed. A prototype of a planar-type ultrasonic motor incorporating 48 arrayed microSWUMs, whose overall dimensions are 47 £ 29 mm 2 , has been realized through the use of a  exible active metallic sheet (stator) which acts as a mobile platform. An experimental characterization has been carried out in order to identify the main physical and technological limitations speciŽ c to millimeter scale standing wave motors. The corresponding results indicate that powerful force/speed characteristics on the millimeter scale can be expected, i.e. high output force density around 20 mN ¢ mm ¡ 2 , a carried load ratio

Journal

Journal of MicromechatronicsBrill

Published: Jan 1, 2000

Keywords: ARRAYED ACTUATORS; ULTRASONIC MICROMOTORS; STATOR; ROTOR CONTACT INTERACTIONS; PIEZOELECTRIC MICROCONVEYER

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