TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

A 3 DOF piezohydraulic parallel micromanipulator

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoProceedings of the 1998 IEEE International Conference on Robotics and Automation, May 16-20, Leuwen , Belgium
Sivut1823-1828
TilaJulkaistu - 1998
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa

Tiivistelmä

The paper presents a new parallel micromanipulator that is composed of three piezohydraulic actuation systems. The basic elements of the actuation system are a piezoelectric actuator, a bellows and hydraulic oil. The use of the flexible bellows results in a new type of parallel structure, where the joints are integrated into actuator links. The joint-free tripod-like micromanipulator is controlled using a real-time control software that is based on a multi-level architecture. Control is organised in four levels for non-linearity compensation, position feedback control, supervision and tackling of automatic operations. The presented micromanipulator provides an exceptional combination of submicrometer resolution, large work space, miniature size and advanced control.

Julkaisufoorumi-taso

Latausten tilastot

Ei tietoja saatavilla