NDLI: Development of a 2DOF micromanipulation system with IPMC actuators

Content Provider	IEEE Xplore Digital Library
Author	McDaid, A.J. Aw, K.C. Xie, S.Q. Haemmerle, E.
Copyright Year	2011
Description	Author affiliation: Department of Mechanical Engineering, The University of Auckland, NZ (McDaid, A.J.; Aw, K.C.; Xie, S.Q.; Haemmerle, E.)
Abstract	This paper presents the design and control of a novel 2 degree-of-freedom (2DOF) micromanipulator to facilitate the safe handling and manipulation of biological materials. The manipulator is driven by two IPMC actuators for each DOF and the system controller is adaptively tuned online using a model-free iterative feedback tuning (IFT) algorithm to adjust the controller parameters to optimize the system performance. A 2DOF controller structure was implemented for each axis of motion so both the disturbance rejection (DR) and set point (SP) response can be optimized, making the system ideal for operating in unknown environments. Simulations are presented which utilize an IPMC model and mechanical manipulator model to show the system performance has been improved by 37% for the DR and by 24% and 28% for SP in the horizontal and vertical direction respectively. Experimental results are also presented to validate the design and show the system can achieve outputs of up to 7° in both axes.
Starting Page	518
Ending Page	523
File Size	684186
Page Count	6
File Format	PDF
ISBN	9781457708381
ISSN	21596255
e-ISBN	9781457708398
DOI	10.1109/AIM.2011.6027044
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-03
Publisher Place	Hungary
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Tuning Actuators Mathematical model Cost function Read only memory
Content Type	Text
Resource Type	Article

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