Abstract
This paper proposes a novel compliant flexure-based microgripper with a second order amplifier including Scott-Russell magnification mechanism (SRMM) and lever amplifier. Both the dynamic model of the system and the Bouc-Wen hysteresis model are established and identified through using least square optimization method. For eliminating the hysteresis phenomenon of the actuator, compensation control method based on inverse dynamic model is proposed. A novel control strategy based on adaptive backstepping sliding model control (ABSMC) with compensator is presented to control the nonlinear system. Simulation results demonstrate that the performance of proposed control strategy is superior to conventional backstepping sliding mode control (CBSMC).
| Original language | English |
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| Title of host publication | 39th Mechanisms and Robotics Conference |
| Publisher | American Society of Mechanical Engineers (ASME) |
| Volume | 5A-2015 |
| ISBN (Electronic) | 9780791857120 |
| DOIs | |
| Publication status | Published - 1 Jan 2015 |
| Externally published | Yes |
| Event | ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States Duration: 2 Aug 2015 → 5 Aug 2015 |
Conference
| Conference | ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 |
|---|---|
| Country/Territory | United States |
| City | Boston |
| Period | 2/08/15 → 5/08/15 |
ASJC Scopus subject areas
- Modelling and Simulation
- Mechanical Engineering
- Computer Science Applications
- Computer Graphics and Computer-Aided Design