Design Of control strategy for a novel compliant flexure-based microgripper with two jaws

Zhigang Wu, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

4 Citations (Scopus)

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 languageEnglish
Title of host publication39th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume5A-2015
ISBN (Electronic)9780791857120
DOIs
Publication statusPublished - 1 Jan 2015
Externally publishedYes
EventASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States
Duration: 2 Aug 20155 Aug 2015

Conference

ConferenceASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
CountryUnited States
CityBoston
Period2/08/155/08/15

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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