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Dynamic model of an arrayed-type ultrasonic microconveyor for control design
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
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This paper presents a new generation of compliant piezoelectric microconveyers for microobjects based on the cooperation of arrayed direct-drive standing wave ultrasonic actuators. A method using an equivalent electromechanical circuit is proposed for estimating and analysing the optimum driving force. On the basis of the proposed method, the friction drive optimization of the micro-robot is performed through the implementation of an electromagnetic field-based preload controller. Preliminary
doi:10.1109/robot.2002.1013720
dblp:conf/icra/FerreiraF02
fatcat:zsbe6rn7snbv5bruxgfu7rgwbu