2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)最新文献_第5页

Locomotion of Microstructures Driven by Algae Cells 藻类细胞驱动的微结构运动

2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2018-07-01 DOI: 10.1109/MARSS.2018.8481168

Xiaodong Wang, N. Jiao, S. Tung, Lianqing Liu

引用次数: 2

Topology Optimization of Flexure Hinges with Distributed Stress for Flexure-Based Mechanisms 基于柔性机构的分布应力柔性铰链拓扑优化

2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2018-07-01 DOI: 10.1109/MARSS.2018.8481150

Min Liu, Jinqing Zhan, Benliang Zhu, Xianmin Zhang

引用次数: 3

Rolling and Sliding of Spheres Inside Horizontal Channels 水平通道内球体的滚动和滑动

2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2018-07-01 DOI: 10.1109/MARSS.2018.8481219

E. Demir, S. Yeşilyurt

{"title":"Rolling and Sliding of Spheres Inside Horizontal Channels","authors":"E. Demir, S. Yeşilyurt","doi":"10.1109/MARSS.2018.8481219","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481219","url":null,"abstract":"Low Reynolds Number rolling and sliding motion of spheres inside cylindrical channels filled with glycerin is investigated. Experimental data are collected for channel/sphere radius ratios $(r_{ch}/r_{sph})$ of 1.6 and 3, where the magnetic sphere is actuated at frequencies between 0.1-50 Hz. Magnetically actuated sphere is rotated clockwise about the y-axis, where the central axis of the cylindrical channel is designated as the z-axis and the distance between the sphere center and the channel axis is measured in x-direction. For $r_{ch}/r_{sph}$ ratio of 3, we observe that the sphere translates in positive z-direction, performing “rolling”. However, at smaller $r_{ch}/r_{sph}$ ratio of 1.6, where the sphere is closely fitted inside the cylindrical channel, as the actuation frequency is increased, transition from rolling to “sliding” in the opposite direction is observed, which describes the motion of a sphere translating in negative z-direction despite its clockwise rotation about y-axis. Further increase in actuation frequency results in saturation of the lateral velocity of sphere due to step-out in both cases. Experimental results are compared to the predictions of the existing analytical models in the literature. A computational fluid dynamics (CFD) model validated against the data found in the literature is utilized to help extending the existing data and interpreting the experimental results.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"09 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127145547","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multistability Analysis for the Compliant Four-Fold Bricard Loops 柔性四叠线环的多稳定性分析

2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2018-07-01 DOI: 10.1109/MARSS.2018.8481195

Hongchuan Zhang, Xiamin Zhang, Benliang Zhu, Rixin Wang, Qi Chen

引用次数: 1

A General Kinematic Modeling Framework for a 3D Compliant Micromechanism 三维柔性微机构的通用运动学建模框架

2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2018-07-01 DOI: 10.1109/MARSS.2018.8481221

Zhong Yang, D. Popa

{"title":"A General Kinematic Modeling Framework for a 3D Compliant Micromechanism","authors":"Zhong Yang, D. Popa","doi":"10.1109/MARSS.2018.8481221","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481221","url":null,"abstract":"Exploiting engineering compliance in microrobotics has been a breakthrough approach for navigating well-known tradeoffs related to precision, fabrication, and control challenges at small scales. However, modeling of compliant, multi-body, 3 dimensional microrobots is considerably more difficult than traditional rigid-body robot kinematics. In this paper, we formulate a kinematic modeling methodology applicable to a broad class of compliant microrobots. Such models can be used prior to fabrication to evaluate mechanism dexterity, precision and sensitivity to dimensional tolerances. They can also be used for microrobot visualization, control synthesis and for fast parametric optimization. We exemplify our approach by modeling the AFAM, an Articulated Four Axes Microrobot, constructed via 3D microassembly from Micro Electro Mechanical System (MEMS) compliant building blocks. The AFAM is a novel mm-scale microrobot designed for nano-positioning tasks in future wafer-scale microfactories. We derive the kinematic model of the AFAM using a computationally scalable constraint optimization approach that can be used equally effectively for both forward and inverse kinematics. Simulation results using the robot operating system (ROS) programming framework are presented in the paper.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132238499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Cell Tracking with Deep Learning and the Viterbi Algorithm 基于深度学习和Viterbi算法的细胞跟踪

2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2018-07-01 DOI: 10.1109/MARSS.2018.8481231

David E. Hernandez, Steven W. Chen, Elizabeth E. Hunter, E. Steager, Vijay R. Kumar

引用次数: 17

A Flexure-Based 2-DOF Microgripper for Handling Micro-Objects 一种基于柔性的二自由度微夹持器

2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2018-07-01 DOI: 10.1109/MARSS.2018.8481193

T. K. Das, B. Shirinzadeh, M. Ghafarian, Joshua Pinskier

{"title":"A Flexure-Based 2-DOF Microgripper for Handling Micro-Objects","authors":"T. K. Das, B. Shirinzadeh, M. Ghafarian, Joshua Pinskier","doi":"10.1109/MARSS.2018.8481193","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481193","url":null,"abstract":"In this paper, a new Piezoelectric Actuator (PEA) microgripper with two degrees of freedom (2-DOF) is proposed for grasping and micro-positioning of micro-objects. It incorporates two types of parallel mechanism, namely, flexible and rigid body based. The flexure-based gripper is intended to improve the dexterity and flexibility of the grasping and release of micro-objects. Finite Element Analysis (FEA) was employed to evaluate the performance of the microgripper's design parameters. The workspace of proposed mechanism was obtained using a kinematic model. The FEA results showed that the maximum stroke of grasping and transferring are 476 11m and 88 11m, respectively. The displacement amplification ratios are 15.87 and 2.93 for grasping and transferring, respectively. In the worst-case scenario, the maximum equivalent (von-Mises) stress and minimum safety factor of the designed microgripper were obtained as 3.83 MPa and 13.1, respectively, this confirms that the microgripper performs well without any failure. The concept of inverse kinematics was implemented on the proposed mechanism in FEA model and utilized to investigate the mi-crogrippers motion and coupling effects. Computational results indicated that the proposed 2-DOF microgripper can achieve accurate motion trajectory during grasping and releasing micro-objects.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125274938","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 11

Micro Droplets Generation in a Flowing Continuous Liquid Using an Ultrasonic Transducer 用超声波换能器在流动的连续液体中产生微液滴

2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2018-07-01 DOI: 10.1109/MARSS.2018.8481146

Nozomu Fujimoro, Tomoyasu Yamada, T. Murakami, T. Kanda, Kota Mori, K. Suzumori

引用次数: 1

Bidirectional, Thin-Film Repulsive-/Attractive-Force Electrostatic Actuators for a Crawling Milli-Robot 用于爬行机器人的双向薄膜斥力/引力静电致动器

2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2018-07-01 DOI: 10.1109/MARSS.2018.8481235

E. Schaler, Loren Jiang, Caitlyn Lee, R. Fearing

引用次数: 4

Design of a Novel Piezoelectric Stick-Slip Driving Nanopositioning Stage and Power Supply Circuit 一种新型压电贴滑驱动纳米定位级及供电电路的设计

2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2018-07-01 DOI: 10.1109/MARSS.2018.8481225

Sen Gu, Changhai Ru

{"title":"Design of a Novel Piezoelectric Stick-Slip Driving Nanopositioning Stage and Power Supply Circuit","authors":"Sen Gu, Changhai Ru","doi":"10.1109/MARSS.2018.8481225","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481225","url":null,"abstract":"Nanopositioning stage is of central importance in the nanorobitic system. The working principle of piezoelectric stick-slip actuating combines the merits of piezoelectric actuating and stick-slip actuating and is a preferable option to design nanopositioning stage with the advantage of high resolution, large stoke and compact mechanical structure. However, the existing techniques in the design of piezoelectric stick-slip driving nanopositioning stage paid little attention to the adjustable friction force which significantly affects the motion properties and load capability. Our goal was to develop a novel piezoelectric stick-slip driving nanopositioning stage that the friction force can be adjusted, consequently, the properties of high resolution, high speed and large load are ensure. To do this we developed an independent driving module including piezoelectric stack actuator, flexure hinge, driving object and preloading screw that installed between base and slider, and the friction force is adjusted by operating adjusting screw installed in the base. Moreover, a power supply circuit of nanopositiong stage was designed and the impact of output voltage magnitude, frequency and step time on the motion of nanopositioning stage was analyzed in order to design the more precise control signal.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133451031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0