Sensorless microrobotic wrist

CTI project in collaboration with a Swiss industrial partner

Test bench for force measurement on a piezoelectrical cantilever.

Test bench for force measurement on a piezoelectrical cantilever.

Project description

The aim of the project is to develop a muti-degrees of freedom piezo-based robotic wrist providing positioning and force sensing capabilities at submicron scale. In order to keep the wrist dimensions very compact (< 2 cm3), the Integrated Actuator Laboratory (LAI) investigates the possibility to make use of sensorless actuation technologies.

 

Publications

Improved modelling of a monomorph piezoelectric actuator for linear self-sensing applications

L. Masson; Y. Perriard 

2019-01-01. 12th International Symposium on Linear Drives for Industry Applications (LDIA), Neuchatel, SWITZERLAND, Jul 01-03, 2019.

Design of an Optimized Self-Sensing Piezoelectric Cantilever for Micro-Robotic Applications

L. Masson; X. Liu; Y. Perriard 

2018. 2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Nagoya, Japan, July 4 -8, 2018. DOI : 10.1109/MARSS.2018.8481181.

An optimized self-sensing piezoelectric cantilever for micro-robotic applications

L. Masson; X. Liu; Y. Perriard 

Journal of Micro-Bio Robotics. 2019. Vol. 15, num. 2, p. 91-103. DOI : 10.1007/s12213-019-00120-4.