Smart Materials based Micro Manipulation System for Robotic Assembly. Design, Modeling & Control

      Аннотация: In the past few years, the drastic revolution in emerging technologies such as micro system, micromanipulation, electromechanical system (MEMS), micro-robotics etc. have been realized through reliable, fast, accurate sensors and actuators. In the present book, three different kind of smart material based actuation modeling and controls have been presented and tested with three different robotic systems for these actuators. Towards controlling the actuation behavior of the smart materials based actuators for robotic assembly the focused three actuators are piezoelectric, ionic polymer metal composite (IPMC) and Shape memory alloy (SMA) respectively. Three different robotic assembly systems namely, Bimorph piezoelectric based compliant gripping system for robotic assembly, Ionic Polymer Metal Composite (IPMC) based peg-in-hole system, Shape Memory Alloy (SMA) based compliant handling system using the proposed models and control for the three smart actuators were developed. This book could be useful to the technologists and researchers working in the field of micro-robotics.

Ключевые слова: Micro-actuator, Micro Manipulation, Robotic Assembly, smart material, Modeling, control