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Velocity Control of an A-shaped Microrobot with Nonlinear and Hybrid Dynamic

Moradian, Hossein | 2014

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 45683 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholamreza
  7. Abstract:
  8. Microrobots are generally suitable for implementation of certain works in miniature dimensions such as micro assembly, microsurgery, adaption with small animals and so on. In this way, there is special position for mobile microrobots capable of moving in the range of more than theirs dimensions. Achivieng to high resolution and high speed locomotion are the challenging issues in the microrobot’s development in which much effort has been done.The goal of this project is dynamic modeling and velocity control of an A-shaped microrobot with with nanometric locomotion. During this project, first the dynamic modeling of microrobot is investigated and simplified based on the previous studies. Then, the velocity control of microrobot has been done for not-separation conditions in which the contact between legs and substrate is maintained. According to separation possibility between legs and substrate, the general dynamic of microrobot consists of different modes with respect to position of legs relative to substrate. After that, the velocity control of hybrid dynamic is accomplished. Also, uncertainties for system’s parameters due to friction are considered in the velocity control process and robustness of controller is proved
  9. Keywords:
  10. Dynamic Modeling ; Nonlinear Control ; Hybrid Control ; Micro Robot

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