Aiming at the poor stability of attitude control of mobile robot mechanism, a kind of attitude stabilitycontrol system of mobile robot mechanism based on nanodisplacement sensor is designed.In the hardware part, a hyd...Aiming at the poor stability of attitude control of mobile robot mechanism, a kind of attitude stabilitycontrol system of mobile robot mechanism based on nanodisplacement sensor is designed.In the hardware part, a hydraulic drive is used to control the action posture of the mobile robot,a nanodisplacement sensor is used to collect the walking data of the robot, and serial communicationof the upper computer is used to convert the data into electrical signals to realise therobot posture control. In the software part, the mathematical coordinate system of robot walkingis constructed, and the rotating posture of the robot is controlled by the Euler angle. Theexperimental results show that the control performance of the designed system is stable andthe control precision is high, which can realise the attitude stabilisation control of the mobilerobot.展开更多
This paper presents a precision centimeter-range positioner based on a Lorentz force actuator using flexure guides.An additional digital-to-analog converter and an operational amplifier(op amp)circuit together with a ...This paper presents a precision centimeter-range positioner based on a Lorentz force actuator using flexure guides.An additional digital-to-analog converter and an operational amplifier(op amp)circuit together with a suitable controller are used to enhance the positioning accuracy to the nanometer level.First,a suitable coil is designed for the actuator based on the stiffness of the flexure guide model.The flexure mechanism and actuator performance are then verified with finite element analysis.Based on these,a means to enhance the positioning performance electronically is presented together with the control scheme.Finally,a prototype is fabricated,and the performance is evaluated.This positioner features a range of 10 mm with a resolution of 10 nm.The proposed scheme can be extended to other systems.展开更多
Nanopositioning stage based on piezoelectric(PZT)actuators and flexure mechanisms has been widely used in dual-stage.Its favorable positioning accuracy and dynamic response can guarantee the high performance of the du...Nanopositioning stage based on piezoelectric(PZT)actuators and flexure mechanisms has been widely used in dual-stage.Its favorable positioning accuracy and dynamic response can guarantee the high performance of the dual-stage.Here the vertical axis motion dual-stage is designed with piezoelectric actuator for the fine-stage and ball-screw drive integrated with wedge sliding mechanisms for the coarse-stage.The aim of the dual-stage is to meet the stringent requirement of scanning over a relative large range with high accuracy.The design results of the piezo-actuated nanopositioning stage show good static and dynamic performance,validated by the simulation of finite element analysis(FEA).Hysteresis nonlinearity due to the use of piezoelectric stacks for actuation is studied and compensated by aproportional-integral(PI)feedback controller.To qualify the design of the motion ranges and resolutions,an experiment platform is established.The experimental results show that the proposed dual-stage has a full range of 12 mm with the resolution of 40 nm.Guideline is provided for the design methodology of the vertical motion dual-range stages.展开更多
This paper presents the design, development, and control of a large range beam flexure-based nano servo system for the micro-stereolithography （MSL） process. As a key enabler of high accuracy in this process, a comp...This paper presents the design, development, and control of a large range beam flexure-based nano servo system for the micro-stereolithography （MSL） process. As a key enabler of high accuracy in this process, a compact desktop-size beam flexure-based nanopositioner was designed with millimeter range and nanometric motion quality. This beam flexure-based motion system is highly suitable for harsh operation conditions, as no assembly or maintenance is required during the operation. From a mechanism design viewpoint, a mirror-symmetric arrangement and appropriate redundant constraints are crucial to reduce undesired parasitic motion. Detailed finite element analysis （FEA） was conducted and showed satisfactory mechanical features. With the identified dynamic models of the nanopositioner, real-time control strategies were designed and implemented into the monolithically fabricated prototype system, demonstrating the enhanced tracking capability of the MSL process. The servo system has both a millimeter operating range and a root mean square （RMS） tracking error of about 80 nm for a circular traiectorv.展开更多
基金the Research and Practice of School-Enterprise Cooperative Education Model of Automobile Body Maintenance Technology Based on productive training base(No.2019JZ016)Henan Provincial Central Guiding local science and technology development fund support project in 2022-Application and promotion of unmanned plant protection vehicle technology based on intelligent network.
文摘Aiming at the poor stability of attitude control of mobile robot mechanism, a kind of attitude stabilitycontrol system of mobile robot mechanism based on nanodisplacement sensor is designed.In the hardware part, a hydraulic drive is used to control the action posture of the mobile robot,a nanodisplacement sensor is used to collect the walking data of the robot, and serial communicationof the upper computer is used to convert the data into electrical signals to realise therobot posture control. In the software part, the mathematical coordinate system of robot walkingis constructed, and the rotating posture of the robot is controlled by the Euler angle. Theexperimental results show that the control performance of the designed system is stable andthe control precision is high, which can realise the attitude stabilisation control of the mobilerobot.
基金Project supported by the National Key Research and Development Plan of China(No.2017YFB1303101)。
文摘This paper presents a precision centimeter-range positioner based on a Lorentz force actuator using flexure guides.An additional digital-to-analog converter and an operational amplifier(op amp)circuit together with a suitable controller are used to enhance the positioning accuracy to the nanometer level.First,a suitable coil is designed for the actuator based on the stiffness of the flexure guide model.The flexure mechanism and actuator performance are then verified with finite element analysis.Based on these,a means to enhance the positioning performance electronically is presented together with the control scheme.Finally,a prototype is fabricated,and the performance is evaluated.This positioner features a range of 10 mm with a resolution of 10 nm.The proposed scheme can be extended to other systems.
基金supported by the National Natural Science Foundation of China(No.51135009)
文摘Nanopositioning stage based on piezoelectric(PZT)actuators and flexure mechanisms has been widely used in dual-stage.Its favorable positioning accuracy and dynamic response can guarantee the high performance of the dual-stage.Here the vertical axis motion dual-stage is designed with piezoelectric actuator for the fine-stage and ball-screw drive integrated with wedge sliding mechanisms for the coarse-stage.The aim of the dual-stage is to meet the stringent requirement of scanning over a relative large range with high accuracy.The design results of the piezo-actuated nanopositioning stage show good static and dynamic performance,validated by the simulation of finite element analysis(FEA).Hysteresis nonlinearity due to the use of piezoelectric stacks for actuation is studied and compensated by aproportional-integral(PI)feedback controller.To qualify the design of the motion ranges and resolutions,an experiment platform is established.The experimental results show that the proposed dual-stage has a full range of 12 mm with the resolution of 40 nm.Guideline is provided for the design methodology of the vertical motion dual-range stages.
基金The authors would like to acknowledge support from the Open Foundation of the State Key Laboratory of Tribology ＆ Institute of Manufacturing Engineering （SKL2016B05）, and the National Natural Science Foundation of China （NSFC） （61327003）.
文摘This paper presents the design, development, and control of a large range beam flexure-based nano servo system for the micro-stereolithography （MSL） process. As a key enabler of high accuracy in this process, a compact desktop-size beam flexure-based nanopositioner was designed with millimeter range and nanometric motion quality. This beam flexure-based motion system is highly suitable for harsh operation conditions, as no assembly or maintenance is required during the operation. From a mechanism design viewpoint, a mirror-symmetric arrangement and appropriate redundant constraints are crucial to reduce undesired parasitic motion. Detailed finite element analysis （FEA） was conducted and showed satisfactory mechanical features. With the identified dynamic models of the nanopositioner, real-time control strategies were designed and implemented into the monolithically fabricated prototype system, demonstrating the enhanced tracking capability of the MSL process. The servo system has both a millimeter operating range and a root mean square （RMS） tracking error of about 80 nm for a circular traiectorv.
