TY - JOUR
T1 - Design and control of a novel micro-gripper using adaptive backstepping slide mode control method
AU - Wu, Zhigang
AU - Li, Yangmin
N1 - Funding Information:
This work was supported in part by the General Research Fund (GRF) of Hong Kong Research Grants Council (PolyU 152137/19E), in part by National Natural Science Foundation of China (51575544), in part by Science and Technology Research Project of Jiangxi Education, Jiangxi, China (GJJ170568, GJJ200833), in part by Natural Science Foundation of Tianjin City, China (16JCZDJC38000), and in part by the research committee of The Hong Kong Polytechnic University (1-45-37-ZE97).
Publisher Copyright:
© 2021, The Author(s), under exclusive licence to Springer-Verlag GmbH, DE part of Springer Nature.
PY - 2021/2/20
Y1 - 2021/2/20
N2 - A symmetrical micro-gripper structure is designed via the Scott-Russell mechanism. The kinematic and dynamic models are established through pseudo-rigid-body method and Lagrange’s method, which are verified by finite element modeling. The hysteresis inverse compensator via Bouc–Wen model is applied to describe the micro-gripper system and their parameters are also identified via least square optimization method. An adaptive backstepping sliding mode controller involving hysteresis compensator is applied for eradicating the hysteresis influence. Meanwhile, for expressing the merit of proposed controller, backstepping sliding mode controller without adaptive control law and PID controller is also carried out. The simulation and experimental results demonstrate that natural frequency of working direction is about 815.77 Hz, the amplification ratio in two axes is approximated to be 7.73. The test errors for two jaws are around 4% and the tracking errors are less than 2% for the selected controller.
AB - A symmetrical micro-gripper structure is designed via the Scott-Russell mechanism. The kinematic and dynamic models are established through pseudo-rigid-body method and Lagrange’s method, which are verified by finite element modeling. The hysteresis inverse compensator via Bouc–Wen model is applied to describe the micro-gripper system and their parameters are also identified via least square optimization method. An adaptive backstepping sliding mode controller involving hysteresis compensator is applied for eradicating the hysteresis influence. Meanwhile, for expressing the merit of proposed controller, backstepping sliding mode controller without adaptive control law and PID controller is also carried out. The simulation and experimental results demonstrate that natural frequency of working direction is about 815.77 Hz, the amplification ratio in two axes is approximated to be 7.73. The test errors for two jaws are around 4% and the tracking errors are less than 2% for the selected controller.
UR - http://www.scopus.com/inward/record.url?scp=85101256733&partnerID=8YFLogxK
U2 - 10.1007/s00542-020-05210-z
DO - 10.1007/s00542-020-05210-z
M3 - Journal article
SN - 0946-7076
VL - 27
SP - 4227
EP - 4239
JO - Microsystem Technologies
JF - Microsystem Technologies
IS - 12
ER -