UE Projet Master 2 SAR – 2016/2017 Intitulé du projet : Design of a

UE Projet
Master 2 SAR – 2016/2017
Intitulé du projet : Design of a Dynamic CAD model for a multi-dof nano-robotic system
Nom du laboratoire ou de l'entreprise : Institut des Systèmes Intelligents et de Robotique
Lieu de réalisation : ISIR
Nom de l'encadrant : Sinan Haliyo et Mokrane Boudaoud
Tel : 33 (0)1 44 27 96 23/ 33 (0)1 44 27 63 84
Email de l'encadrant : [email protected] / [email protected]
Ce projet comporte :
 une étude bibliographique :
 de la programmation :
 des expérimentations :
oui
oui
non
Ce projet est destiné à un monôme.
Ce sujet est pré-attribué :
non
Context:
Nano-robotic systems have become increasingly popular in research and industry for
semi-automated and automated tasks at small scales, i.e. 1 nm - 1 mm. They mainly use
Piezoelectric Stick-Slip (PSS) actuators [1] [2] because of their ability to produce a coarse
displacement in the millimeter or the micrometer ranges and a fine displacement with a
nanometer resolution. For an efficient use of nano-robotic systems, a series of research
have been fulfilled on design process, dynamic modeling, driving methods and control.
However, there have been very few investigations on the offline programming of such
systems using a Computer-Aided Design CAD. This is mainly due to the lack of accurate
models of high precision robotic systems and of interaction forces at the micro and the
nano-scales. The aim of this project is to fill the technological gap in nano-robotics for
applications requiring complex automated tasks. It aims at the development of a
comprehensive dynamic CAD model able to take into account the properties of nanorobotic systems.
Dynamic CAD
model
Fig.1 The nano-robotic system of ISIR and its CAD model.
Objectives:
The case of study in this project is a multi-dof nano-robotic system (Fig.1). It is composed
of a 6 dof parallel robot and a 3 dof Cartesian robot. Each axis of the nano-robot is
actuated by a PSS actuator of the same reference (SLC-1720-S-HV). The maximum
stroke of the actuator is 12 mm and its resolution is in the nanometer range. In previous
work [3], we have proposed a new nonlinear model of a PSS able to describe its dynamic
for multi-scale motions, i.e. millimeter, micrometer and nanometer displacements. This
model has been designed using matlab/Simulink. Moreover in [4], a geometric static model
of the system has been designed with Blender software.
The main objective of this project is to design a dynamic CAD model of the parallel
and the serial robotic structures using Blender and Matlab. The challenge is to link
the model from matlab and that from Blender to define accurately the dynamic
motion of the complete robotic structure in both a coarse positioning mode and a
fine positioning mode. A possible application is to make an offline programming
with the dynamic model of Blender for automated in situ force measurements at the
nanometer scale [4].
Prerequisite:
Robotics, mechanical engineering.
References:
[1] C. Belly and W. Charon, “Benefits of amplification in an inertial stepping motor,” Mechatronics, vol. 22, no. 2, pp. 177–183, 2012.
[2] C.-F. Yang, S.-L. Jeng, and W.-H. Chieng, “Motion behavior of triangular waveform excitation input in an operating impact drive mechanism,” Sensors and Actuators A: Physical,
vol. 166, no. 1, pp. 66–77, 2011.
[3] M. Boudaoud, T. Lu, S. Liang, R. Oubellil, and S. Régnier., “Volt- age/frequency rate de pendent modeling for nano-robotic systems based on piezoelectric stick-slip actuators,” in
IEEE/RSJ International Con- ference on Intelligent Robots and Systems, 2016.
[4] J.-O. Abrahamians, B. Sauvet, J. Polesel-Maris, R. Braive, and S. Régnier, “A nanorobotic system for in situ stiffness measurements on membranes,” IEEE Trans on Robotics,
vol. 30, pp. 119–124, 2013.