Presentation of the microrobotic system

For more info about our services contact : help@bestpfe.com

Table of contents

1 State-of-the-Art 
1.1 Microrobotics
1.1.1 Microworld
1.1.2 Observation
1.1.3 Micro-Manipulation Systems
1.1.4 Chronogrip System
1.1.5 Flexible Micro-Manipulation Solutions
1.2 Actuators for Microrobotic Applications
1.2.1 Piezoelectric Actuators
1.2.2 Electrostatic Actuators
1.2.3 Thermal Actuators
1.2.4 Magneto-/Electrorheological Fluids
1.2.5 Actuators for Microrobotic Applications
1.2.6 Control Algorithm for Piezoelectric Stick-Slip Actuator
1.3 Haptic Interface
1.3.1 Series-Structure Interface
1.3.2 Parallel-Structure Interface
1.3.3 Haptic Interfaces Summary
1.3.4 Dedicated Haptic Interfaces for Micro-Manipulation
1.4 Challenges
2 Nonlinear modeling for a class of microrobotic systems using piezoelectric stick-slip actuators 
2.1 Introduction
2.2 State-of-the-Art
2.2.1 Microrobotic Actuators
2.2.2 Working Principle of Piezoelectric Stick-Slip Actuator
2.2.3 Friction Modeling
2.3 Presentation of the microrobotic system
2.4 Nonlinear dynamic modeling
2.4.1 Dynamic Modeling of the PE and the slider
2.4.2 Modeling of the Slider
2.4.3 Modeling of the Friction
2.5 Experimental analysis and identication
2.5.1 Description of the experimental setup
2.5.2 Parameters identication
2.5.3 Model Validation
2.6 Discussion
2.7 Velocity Control
2.8 Conclusions
3 Extending the Bandwidth of Dual Stage Haptic Interface by Signal Crossover 
3.1 Introduction
3.2 State of the art
3.3 System description
3.3.1 Material description
3.3.2 Crossover method
3.4 Model and control
3.4.1 Dynamic modeling
3.4.2 Identication
3.4.3 Compensation
3.5 Experimental evaluation
3.5.1 Performances of the haptic crossover method
3.5.2 Optical tweezers application
3.6 Conclusion
4 Design of a Haptic Interface for Watchmakers 
4.1 Introduction
4.2 State-of-the-Art
4.3 Technical Specications of the TéléTweez
4.3.1 Description of Tweezers in Watchmaking Industries
4.3.2 Description of Haptic Tweezers
4.3.3 Technical Specications of the TéléTweez
4.4 Mechatronics Design
4.4.1 Actuator System Design
4.4.2 Mechatronic Design of the TéléTweez
4.5 Dynamics Analysis and Virtual Environment Application
4.5.1 Dynamic Modeling
4.5.2 Frequency Bandwidth Identication
4.5.3 Virtual Environment Application
4.6 Conclusion
Conclusions and Future Works 
A Geometric Optimization of Mechanical Amplier 
B Static Analysis of Ball Screw 
C Publication List 
Bibliography