Skip to main content

Advertisement

Springer Nature Link
Log in

A 3D-printed 3-DOF tripedal microrobotic platform for unconstrained and omnidirectional sample positioning

  • Regular Paper
  • Published:
International Journal of Intelligent Robotics and Applications Aims and scope Submit manuscript

Abstract

This paper describes the design of a 3D-printed, three-degree-of-freedom (3-DOF) tripedal microrobotic platform that is capable of unlimited travel with sub-micrometer precision over a planar surface. The design combines piezoelectric stack actuators with compliant mechanical amplifiers to create stick-slip-style mechanisms for locomotion. A forward kinematic model of the stage’s motion is derived from its tripedal leg architecture. The model is then inverted for feedforward control of the platform. A prototype of the microrobot is constructed using low-cost 3D-printing technology. Experimental results demonstrate actuator stroke of 29.4 \(\upmu\)m on average with a dominant resonance of approximately 860 Hz. Using open-loop feedforward control, the stage travels along a 3 mm \(\times\) 3 mm, rectangular path. Feedback control through visual servoing is then simulated on a model that includes flexure dynamics, observed surface interactions, and camera sampling times, reducing the root-mean-square (RMS) tracking error by 90%. This controller is then implemented experimentally, resulting in 99% RMS position error reduction relative to feedforward-only control structure. The results show feasibility of creating functional 3D-printed, 3-DOF sample positioning stages.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  • Fleming, A.J., Leang, K.K.: Design, Modeling and Control of Nanopositioning Systems. Springer, New York (2014)

    Book  Google Scholar 

  • Eigoli, A.K., Vossoughi, G.: Dynamic modeling of stick-slip motion in a legged, piezoelectric driven microrobot. Int. J. Adv. Robot. Syst. 7, 201–208 (2010)

    Article  Google Scholar 

  • Guyenot, V., Siebenhaar, C.: Centering of optical components by using stick-slip effect. In: Proceedings of Society of Photographic Instrumentation Engineers 3739, Optical Fabrication and Testing, pp. 404–410 (1999)

  • Holuba, O., Spiller, M., Hurak, Z.: Stick-slip based micropositioning stage for transmission electron microscope. In: Proceedings of the 9th IEEE International Workshop on Advanced Motion Control, pp. 484–487 (2006)

  • Klingner, J., Kanakia, A., Farrow, N., Reishus, D., Correll, N.: A stick-slip omnidirectional powertrain for low-cost swarm robotics: mechanism, calibration, and control. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 846–851 (2014)

  • Li, W., Li, J., Hu, H., Li, M., Sun, L.: Analysis and experiment of stick-slip motion principle in a legged microrobot. In: Proceedings of the 6th International Forum on Strategic Technology (IFOST), pp. 328–332 (2011)

  • Liang, S., Boudaoud, M., Cagneau, B., Regnier, S.: Velocity characterization and control strategies for nano-robotic systems based on piezoelectric stick-slip actuators. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 6606–6611 (2017)

  • Lu, T., Boudaoud, M., Heriban, D., Regnier, S.: Nonlinear modeling for a class of nano-robotic systems using piezoelectric stick-slip actuators. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6020–6025 (2015)

  • Jamshidian, M., Tehrany, E.A., Imran, M., Jacuot, M., Desobry, S.: Poly-lactic acid: production, applications, nanocomposites, and release studies. Compr. Rev. Food Sci. Food Saf. 9(5), 552–571 (2010)

    Article  Google Scholar 

  • Murthy, R., Das, A., Popa, D.O.: ARRIpede: a stick-slip micro crawler/conveyor robot constructed via 2 1/2D MEMS assembly. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 34–40 (2008)

  • Lobontiu, N.: Compliant Mechanisms: Design of Flexure Hinges. CRC Press, Boca Raton (2002)

    Book  Google Scholar 

  • Oubellil, R., Voda, A., Boudaoud, M., Regnier, S.: Robust control strategies of stick-slip type actuators for fast and accurate nanopositioning operations in scanning mode. In: Proceedings of the 23rd IEEE Mediterranean Conference on Control and Automation, pp. 650–655 (2015)

  • Qu, J., Choi, J., Oldham, K.R.: Dynamics of millimeter-scale hexapod microrobotics with PZT-polymer micro-actuators. In: Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1304–1309 (2017)

  • Rios, S., Fleming, A.J., Yong, Y.K.: Miniature resonant ambulatory robot. IEEE Robot. Autom. Lett. 2, 337–343 (2017)

    Article  Google Scholar 

  • Shiratori, H., Takizawa, M., Irie, Y., Hirata, S., Aoyama, H.: Development of the miniature hemispherical tilt stage driven by stick-slip motion using piezoelectric actuators. In: Proceedings of the 13th IEEE 9th France-Japan & 7th Europe-Asia Congress on and Research and Education in Mechatronics/ International Workshop on Mechatronics, pp. 251–257 (2012)

  • Shrikanth, V., Simha, K. R.Y., Bobji, M.S.: Frictional force measurement during stick-slip motion of a piezoelectric walker. In: Proceedings of the IEEE International Conference on Industrial Technology (ICIT), pp. 1463–1468 (2015)

  • Yang, L., Youcef-Toumi, K., Tan, U.: Towards automatic robot-assisted microscopy: an uncalibrated approach for robotic vision-guided micromanipulation. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5527–5532 (2016)

  • Zesch, W., Buechi, R., Codourey, A., Siegwart, R.Y.: Inertial drives for micro- and nanorobots: two novel mechanisms. In: Proceedings of SPIE 2593, Microrobotics and Micromechanical Systems (1995)

Download references

Acknowledgements

This material is based upon work supported, in part, by the National Science Foundation Grant nos. CMMI 1537983, 1537722, and 1708536. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of Utah Robotics Center, University of Utah, Salt Lake City, UT, 84112, USA

    Iman Adibnazari, William S. Nagel & Kam K. Leang

Authors
  1. Iman Adibnazari
    View author publications

    You can also search for this author inPubMed Google Scholar

  2. William S. Nagel
    View author publications

    You can also search for this author inPubMed Google Scholar

  3. Kam K. Leang
    View author publications

    You can also search for this author inPubMed Google Scholar

Corresponding author

Correspondence to Kam K. Leang.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Adibnazari, I., Nagel, W.S. & Leang, K.K. A 3D-printed 3-DOF tripedal microrobotic platform for unconstrained and omnidirectional sample positioning. Int J Intell Robot Appl 2, 425–435 (2018). https://doi.org/10.1007/s41315-018-0071-9

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s41315-018-0071-9

Keywords