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

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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.

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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.

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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

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  1. Iman Adibnazari
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  2. William S. Nagel
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  3. Kam K. Leang
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Correspondence to Kam K. Leang.

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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

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

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