Zhang Jin, Yang Yiling, Lou Junqiang, Wei Yanding, Fu Lei
Faculty of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211, China.
The Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, Zhejiang University, Hangzhou 310058, China.
Sensors (Basel). 2018 Apr 23;18(4):1301. doi: 10.3390/s18041301.
This paper reports on the development, implementation and hybrid control of a new micro-fiber-composite microgripper with synchronous position and force control capabilities. In particular, the micro-fiber-composite actuator was composed of rectangular piezoelectric fibers covered by interdigitated electrodes and embedded in structural epoxy. Thus, the micro-fiber-composite microgripper had a larger displacement-volume ratio (i.e., the ratio of the output displacement to the volume of the microgripper) than that of a traditional piezoelectric one. Moreover, to regulate both the gripper position and the gripping force simultaneously, a hybrid position/force control scheme using fuzzy sliding mode control and the proportional-integral controller was developed. In particular, the fuzzy sliding mode control was used to achieve the precision position control under the influence of the system disturbances and uncertainties, and the proportional-integral controller was used to guarantee the force control accuracy of the microgripper. A series of experimental investigations was performed to verify the feasibility of the developed microgripper and the control scheme. The experimental results validated the effectiveness of the designed microgripper and hybrid control scheme. The developed microgripper was capable of precision and multiscale micromanipulation tasks.
本文报道了一种具有同步位置和力控制能力的新型微纤维复合材料微夹钳的开发、实施及混合控制。具体而言，微纤维复合材料致动器由覆盖有叉指电极并嵌入结构环氧树脂中的矩形压电纤维组成。因此，微纤维复合材料微夹钳比传统压电微夹钳具有更大的位移-体积比（即输出位移与微夹钳体积之比）。此外，为了同时调节夹钳位置和夹持力，开发了一种使用模糊滑模控制和比例积分控制器的混合位置/力控制方案。具体来说，模糊滑模控制用于在系统干扰和不确定性影响下实现精确的位置控制，比例积分控制器用于保证微夹钳的力控制精度。进行了一系列实验研究以验证所开发的微夹钳和控制方案的可行性。实验结果验证了所设计的微夹钳和混合控制方案的有效性。所开发的微夹钳能够完成精确的多尺度微操作任务。
