Simulation and Measurements of Stick-Slip-Microdrives for Nanorobots

This paper presents the results of measurements and simulations of a linear stick-slip axis for a mobile nanorobot for the height adjustment of end-effectors, e.g. microgrippers. The function is dependent on surface condition and friction characteristics. The axis is driven by laserstructured piezoceramics, who generate a dynamic stick-slip motion. It is shown, that the dependency to surface etc. can be partly described by a phenomenon that will be denominated 0(zero)-step amplitude. It is the amplitude, where an actuator displacement is generated, but the final step length remains precisely zero. To investigate several influences on the 0-step amplitude, a test stand was build up. For simulation of friction according to literature dedicated to micro- and nanorobots, friction contacts can be modeled using the LuGre-model of friction. However, the 0-step amplitude is not covered by the model. Furthermore, the dependency to surface condition is not part of actual friction models. Thus, this effect is systematically measured and finally it is discussed how to integrate it into available friction models

[1]  Carlos Canudas de Wit,et al.  A new model for control of systems with friction , 1995, IEEE Trans. Autom. Control..

[2]  F. Heslot,et al.  Creep, stick-slip, and dry-friction dynamics: Experiments and a heuristic model. , 1994, Physical review. E, Statistical physics, plasmas, fluids, and related interdisciplinary topics.

[3]  E. Rabinowicz.  The Intrinsic Variables affecting the Stick-Slip Process , 1958 .

[4]  Chunsheng Zhao,et al.  Development and application prospects of piezoelectric precision driving technology , 2008 .

[5]  Sergej Fatikow,et al.  Development, Control and Evaluation of a Mobile Platform for Microrobots , 2008 .

[6]  Persson.  Theory and simulation of sliding friction. , 1993, Physical review letters.

[7]  Sergej Fatikow,et al.  Depth-detection methods for microgripper based CNT manipulation in a scanning electron microscope , 2008 .

[8]  Shuxiang Guo,et al.  Development of a novel type of microrobot for biomedical application , 2008 .

[9]  Daniel Jasper,et al.  Laser-Based Structuring of Piezoceramics for Mobile Microrobots , 2009 .

[10]  Christoph Edeler.  Simulation and experimental evaluation of laser-structured actuators for a mobile microrobot , 2008, 2008 IEEE International Conference on Robotics and Automation.

[11]  P. Dupont,et al.  Elasto-plastic friction model: contact compliance and stiction , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[12]  Wolfgang Zesch,et al.  Multi-degree-of-freedom micropositioning using stepping principles , 1997 .

[13]  A. Bergander,et al.  A testing mechanism and testing procedure for materials in inertial drives , 2002, Proceedings of 2002 International Symposium on Micromechatronics and Human Science.