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Yangmin Li - One of the best experts on this subject based on the ideXlab platform.
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design and analysis of a new high precision decoupled xy compact parallel Micromanipulator
Micromachines, 2017Co-Authors: Xigang Chen, Yangmin LiAbstract:With the development of nanotechnology that contains automatic control, precision machinery and precise measurement, etc., micro/nano manipulation has become a new research direction in recent years. This paper presents the design and analysis procedures of a new high precision XY decoupled compact parallel Micromanipulator (DCPM) for micro scale positioning applications. The DCPM is made up of the decoupler, two-stage amplifier and the piezoelectric translator (PZT) actuators, which utilizes the characteristics of flexure hinges. In this paper, firstly, a new two-stage bridge-principle amplifier is proposed by a serial connection of two fundamental bridge amplifiers in order to increase the ratio of amplification. It is pivotal for designing the Micromanipulator. Then, the kinematic modeling of the Micromanipulator is carried out by resorting to stiffness and compliance analysis via matrix method. Finally, the performance of the Micromanipulator is validated by finite-element analysis (FEA) which is preliminary job for fabricating the prototype and designing the control system of the XY stage that is expected to be adopted into micro/nano manipulations.
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feedforward nonlinear pid control of a novel Micromanipulator using preisach hysteresis compensator
Robotics and Computer-integrated Manufacturing, 2015Co-Authors: Hui Tang, Yangmin LiAbstract:Recently, flexure-based Micromanipulators with a large workspace, high motion precision, and high positioning bandwidth are really attractive for performing practical micro/nano manipulation tasks. Thus, a piezo-actuated flexible two-degrees-of-freedom (2-DOF) Micromanipulator integrated with a pair of modified differential lever displacement amplifiers (MDLDA) is developed. To enhance the practical positioning performance of the Micromanipulator, a novel feedforward nonlinear Proportion-Integration-Differentiation (FNPID) control strategy combining a nonlinear PID controller with an inverted hysteresis compensator is first proposed and implemented in detail. With the consideration of hysteresis effect inherent in piezoelectric ceramics (PZT) actuators, the hysteresis nonlinearity modeling is conducted by using the Preisach theory. Finally, a series of precision motion trajectory tracking experiments are successfully conducted by using the proposed closed-loop control strategy. The experimental results indicate that the mechanism has achieved a satisfactory performance for performing robotic biomanipulations. HighlightsA novel FNPID controller for the improvement of the practical working frequency of the flexure-based nanopositioning system is proposed.A new concept named "area efficiency" is proposed to make a quantitative evaluation for the designed nanomanipulator.Preisach method is adopted to model and compensate the complicated hysteresis nonlinearity.A series of trajectory tracking experiments are conducted to make comparisons between the proposed FNPID and PID controller.
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Development and control of a compact 3-DOF Micromanipulator for high-precise positioning
2014 IEEE ASME International Conference on Advanced Intelligent Mechatronics, 2014Co-Authors: Xiao Xiao, Yangmin LiAbstract:This paper presents a compact 3-DOF Micromanipulator, which is a variant of the rigid 3-P(4S) parallel mechanism. Due to the special design, the proposed Micromanipulator is compact in structure and large in workspace. Firstly, the design process of the Micromanipulator is demonstrated in this paper. Then the mathematical model of the Micromanipulator is derived, in which stiffness model of the compliant P(4S) chain and total stiffness of the compliant 3-P(4S)mechanism are calculated. Finally, a prototype of the Micromanipulator is fabricated. Three electromagnetic actuators are utilized in this design. Control system based on dSPACE system is established and preliminary experiments are conducted. Both FEA simulation and experimental results reveal that the proposed Micromanipulator has a good positioning performance, which is highly desirable in micro/nano manipulation and manufacturing. The main advantages of the Micromanipulator are compact in structure, easy to control and non-contact in actuation.
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AIM - Development and control of a compact 3-DOF Micromanipulator for high-precise positioning
2014 IEEE ASME International Conference on Advanced Intelligent Mechatronics, 2014Co-Authors: Xiao Xiao, Yangmin LiAbstract:This paper presents a compact 3-DOF microma- nipulator, which is a variant of the rigid 3-P(4S) parallel mecha- nism. Due to the special design, the proposed Micromanipulator is compact in structure and large in workspace. Firstly, the design process of the Micromanipulator is demonstrated in this paper. Then the mathematical model of the Micromanipulator is derived, in which stiffness model of the compliant P(4S) chain and total stiffness of the compliant 3-P(4S)mechanism are calculated. Finally, a prototype of the Micromanipulator is fabricated. Three electromagnetic actuators are utilized in this design. Control system based on dSPACE system is established and preliminary experiments are conducted. Both FEA simulation and experimental results reveal that the pro- posed Micromanipulator has a good positioning performance, which is highly desirable in micro/nano manipulation and manufacturing. The main advantages of the Micromanipulator are compact in structure, easy to control and non-contact in actuation.
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Design, comparison and analysis of a novel 3-D decoupling Micromanipulator with different numbers of S-joints
14th IEEE International Conference on Nanotechnology, 2014Co-Authors: Zhigang Wu, Yangmin LiAbstract:In this paper, the XYZ translational parallel Micromanipulator with three-dimension is proposed. The whole mechanism is fully symmetric about x and y axes. The end-effector with the centre of the plane may acquire the ideal effect according to using the different number of S-hinges (spherical hinge with three degrees of freedom). Therefore, the four types of mechanisms with different numbers of S-hinges are analyzed and designed. The output displacements in the x and y directions are found that there are not much impact, but the influence in the z direction is different for four kinds of S-hinges. A comparison is made for the kinematics performances and decoupling characteristics of the different Micromanipulators, and then the best one can be selected as the mechanism. The workspaces for the Micromanipulator can be produced at last. According to results of the analysis with the ANSYS software, the errors for the x, y and z directions are lower than 2%, and the displacement loss is about 15% in the x and y directions, so the kinematic performances of the novel stage are validated.
H.n. Koivo - One of the best experts on this subject based on the ideXlab platform.
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three dimensional position control of a parallel Micromanipulator using visual servoing
Intelligent Systems and Smart Manufacturing, 2000Co-Authors: Pasi Kallio, Quan Zhou, Juha Korpinen, H.n. KoivoAbstract:This paper presents a computer-vision based position controller for a highly non-linear parallel piezohydraulic Micromanipulator: in addition to its non-linear kinematics the Micromanipulator experiences hysteresis and drive induced by piezoelectric actuators. The controller consists of a decoupling matrix that provides the decoupled translations (xyz) in the task frame and three Single Input Single Output (SISO) PI controllers for the translations. Position measurement is performed by a vision system that determines the x and y coordinates of the end- effector using a modified Hierarchical Chamfer Matching Algoritm (HCMA) and the z position using a depth-from-defocus method. Experiments show that the proposed controller is capable of serving the parallel Micromanipulator with a sub-micron accuracy at a sampling rate of 18 Hz.
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IROS - Position control of a 3 DOF piezohydraulic parallel Micromanipulator
Proceedings. 1998 IEEE RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory Practice and Applications (Cat. No.98CH36, 1998Co-Authors: Pasi Kallio, M. Lind, Quan Zhou, H.n. KoivoAbstract:This paper focuses on the open-loop and closed-loop position control of a tripod-like joint-free parallel Micromanipulator that is composed of three piezohydraulic actuation systems. The Micromanipulator is controlled in open-loop using a general inverse kinematics model. Open-loop control is sufficient in many applications but when high accuracy and high speed are required, closed-loop control must be applied. The closed-loop control of the Micromanipulator is organized in multiple levels. The first level compensates nonlinearities of the actuation systems and the second level controls the position of the end-effector. Level three is a supervisory level and level four tackles automatic operations. Level two, i.e. the position feedback controller, consists essentially of two single input/single output (SISO) proportional-integral (PI) controllers and an incremental form of the inverse kinematics model. The experimental results show that the position feedback control efficiently eliminates drift and vibration of the end-effector.
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Hall sensor based position measurement system for a parallel Micromanipulator
1998Co-Authors: Pasi Kallio, M. Lind, Quan Zhou, H.n. KoivoAbstract:This paper presents a Hall sensor based position measurement system for a parallel Micromanipulator. The Micromanipulator consists of three piezohydraulic actuation systems. The actuation systems are connected by a mobile platform on which the end-effector is mounted. Since micromanipulation is performed under an optical microscope, machine vision methods would be a straightforward alternative for detecting the movement of the end-effector. The insufficient speed of the vision hardware limits, however, their applicability to on-line control. Results presented in this paper show that Hall sensors can be used in on-line position feedback control of the parallel Micromanipulator. Hall sensors are used to indirectly measure the movement of the end-effector by detecting the movement of the mobile platform. By applying Hall sensor measurements to the closed-loop control, drift caused by piezoelectric actuators and vibrations caused by external disturbances, for example, can be eliminated.
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A 3-DOF piezohydraulic parallel Micromanipulator
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998Co-Authors: P. Kallio, M. Lind, Quan Zhou, H.n. KoivoAbstract:The paper presents a new parallel Micromanipulator that is composed of three piezohydraulic actuation systems. The basic elements of the actuation system are a piezoelectric actuator, a bellows and hydraulic oil. The use of the flexible bellows results in a new type of parallel structure, where the joints are integrated into actuator links. The joint-free tripod-like Micromanipulator is controlled using a real-time control software that is based on a multi-level architecture. Control is organised in four levels for nonlinearity compensation, position feedback control, supervision and tackling of automatic operations. The Micromanipulator presented provides an exceptional combination of submicrometer resolution, large work space, miniature size and advanced control.
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Position control of a 3 DOF piezohydraulic parallel Micromanipulator
Proceedings. 1998 IEEE RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory Practice and Applications (Cat. No.98CH36, 1998Co-Authors: P. Kallio, M. Lind, Quan Zhou, H.n. KoivoAbstract:This paper focuses on the open-loop and closed-loop position control of a tripod-like joint-free parallel Micromanipulator that is composed of three piezohydraulic actuation systems. The Micromanipulator is controlled in open-loop using a general inverse kinematics model. Open-loop control is sufficient in many applications but when high accuracy and high speed are required, closed-loop control must be applied. The closed-loop control of the Micromanipulator is organized in multiple levels. The first level compensates nonlinearities of the actuation systems and the second level controls the position of the end-effector. Level three is a supervisory level and level four tackles automatic operations. Level two, i.e. the position feedback controller, consists essentially of two single input/single output (SISO) proportional-integral (PI) controllers and an incremental form of the inverse kinematics model. The experimental results show that the position feedback control efficiently eliminates drift and vibration of the end-effector.
Cameron N Riviere - One of the best experts on this subject based on the ideXlab platform.
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Improvement of optical coherence tomography using active handheld Micromanipulator in vitreoretinal surgery
2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2013Co-Authors: Sungwook Yang, Robert A Maclachlan, Marcin Balicki, Trent S. Wells, Jin U. Kang, James T. Handa, Russell H. Taylor, Cameron N RiviereAbstract:An active handheld Micromanipulator has been developed to cancel hand tremor during microsurgery. The Micromanipulator is also applicable in optical coherence tomography to improve the quality of scanning and minimize surgical risks during the scans. The manipulator can maneuver the tool tip with six degrees of freedom within a cylindrical workspace 4 mm in diameter and 4 mm high. The imaging system is equipped with a 25-gauge Fourier-domain common-path OCT probe. This paper introduces the handheld OCT imaging system and techniques involved and presents stabilized OCT images of A-mode and M-mode scans in air and live rabbit eyes. We show the first demonstration of OCT imaging using the active handheld Micromanipulator in vivo.
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ICRA - Design and analysis of 6 DOF handheld Micromanipulator
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2012Co-Authors: Sungwook Yang, Robert A Maclachlan, Cameron N RiviereAbstract:This paper presents the design and analysis of a handheld manipulator for vitreoretinal microsurgery and other biomedical applications. The design involves a parallel Micromanipulator utilizing six piezoelectric linear actuators, combining compactness with a large range of motion and relatively high stiffness. Given the available force of the actuators, the overall dimension of the Micromanipulator was optimized considering realistic external loads on a remote center of motion representing the point of expected contact with the sclera of the eye during microsurgery. Based on optimization and workspace analysis, a benchtop version of the Micromanipulator was built with a base diameter of 25 mm and a height of 50 mm. It provides a hemispherical workspace of 4.0 mm diameter at the tool tip. The manipulation performance of the constructed manipulator was measured under a lateral load applied at the remote center of motion. The Micromanipulator tolerated side loads up to 200 mN.
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Design and analysis of 6 DOF handheld Micromanipulator
2012 IEEE International Conference on Robotics and Automation, 2012Co-Authors: Sungwook Yang, Robert A Maclachlan, Cameron N RiviereAbstract:This paper presents the design and analysis of a handheld manipulator for vitreoretinal microsurgery and other biomedical applications. The design involves a parallel Micromanipulator utilizing six piezoelectric linear actuators, combining compactness with a large range of motion and relatively high stiffness. Given the available force of the actuators, the overall dimension of the Micromanipulator was optimized considering realistic external loads on a remote center of motion representing the point of expected contact with the sclera of the eye during microsurgery. Based on optimization and workspace analysis, a benchtop version of the Micromanipulator was built with a base diameter of 25 mm and a height of 50 mm. It provides a hemispherical workspace of 4.0 mm diameter at the tool tip. The manipulation performance of the constructed manipulator was measured under a lateral load applied at the remote center of motion. The Micromanipulator tolerated side loads up to 200 mN.
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state estimation and feedforward tremor suppression for a handheld Micromanipulator with a kalman filter
Intelligent Robots and Systems, 2011Co-Authors: Brian C Becker, Robert A Maclachlan, Cameron N RiviereAbstract:Active compensation of physiological tremor for handheld Micromanipulators depends on fast control and actuation responses. Because of real-world latencies, real-time compensation is usually not completely effective at eliminating unwanted hand motion. By modeling tremor, more effective cancellation is possible by anticipating future hand motion. We propose a feedforward control strategy that utilizes tremor velocity from a state-estimating Kalman filter. We demonstrate that estimating hand motion in a feedforward controller overcomes real-world latencies in Micromanipulator actuation. In hold-still tasks with a fully handheld Micromanipulator, the proposed feedforward approach improves tremor rejection by over 50%.
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Visual Guidance of an Active Handheld Microsurgical Tool
2011Co-Authors: Brian C Becker, Robert A Maclachlan, Sandrine Voros, Gregory D. Hager, Cameron N RiviereAbstract:In microsurgery, a surgeon often deals with anatomical structures of sizes that are close to the limit of the human hand accuracy. Robotic assistants can help to push beyond the current state of practice by integrating imaging and robot-assisted tools. This paper demonstrates control of a handheld tremor reduction Micromanipulator with visual servo techniques, aiding the operator by providing three behaviors: "snap-to", motion scaling, and standoff regulation. A stereo camera setup viewing the workspace under high magnification tracks the tip of the Micromanipulator and the object being manipulated. Individual behaviors are activated in task-specific situations when the Micromanipulator tip is in the vicinity of the target. We show that the snap-to behavior can reach and maintain a position at a target with Root Mean Squared Error (RMSE) of 17.5 ± 0.4 µm between the tip and target. Scaling the operator's motions and preventing unwanted contact with non-target objects also provides a larger margin of safety.
Qingsong Xu - One of the best experts on this subject based on the ideXlab platform.
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dahl model based hysteresis compensation and precise positioning control of an xy parallel Micromanipulator with piezoelectric actuation
Journal of Dynamic Systems Measurement and Control-transactions of The Asme, 2010Co-Authors: Qingsong Xu, Yangmin LiAbstract:This paper presents a new control scheme for the hysteresis compensation and precise positioning of a piezoelectrically actuated Micromanipulator. The scheme employs an inverse Dahl model-based feedforward in combination with a repetitive proportional-integral-derivative feedback control algorithm along with an antiwindup strategy. The dynamic model of the system with Dahl hysteresis is established and identified through particle swarm optimization approach. The necessity of using global optimization and how to choose the model parameters to be optimized are addressed as well. The effectiveness of the proposed controller is demonstrated by several experimental studies on an XY parallel Micromanipulator. Experimental results reveal that both antiwindup and repetitive control strategies can improve the positioning accuracy of the system, and a well performance of the proposed scheme for both one-dimensional tracking and two-dimensional contouring tasks of the Micromanipulator is achieved. Moreover, due to a simple structure, the proposed methodology can be easily generalized to other micro- or nanomanipulators with piezoelectric actuation as well.
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Design, Fabrication, and Visual Servo Control of an XY Parallel Micromanipulator With Piezo-Actuation
IEEE Transactions on Automation Science and Engineering, 2009Co-Authors: Qingsong Xu, Yangmin Li, Ning XiAbstract:This paper presents a complete design and development procedure of a new XY Micromanipulator for two-dimensional (2-D) micromanipulation applications. The manipulator possesses both a nearly decoupled motion and a simple structure, which is featured with parallel-kinematic architecture, flexure hinge-based joints, and piezoelectric actuation. Based on pseudo-rigid-body (PRB) simplification approach, the mathematical models predicting kinematics, statics, and dynamics of the XY stage have been obtained, which are verified by the finite-element analysis (FEA) and then integrated into dimension optimization via the particle swarm optimization (PSO) method. Moreover, a prototype of the Micromanipulator is fabricated and calibrated using a microscope vision system, and visual servo control employing a modified PD controller is implemented for the accuracy improvement. The experiments discover that a workspace size of 260 mum times 260 mum with a 2-D positioning accuracy and repeatability around 0.73 and 1.02 mum, respectively, can be achieved by the Micromanipulator.
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APCCAS - Experimental studies on a Micromanipulator for micro/nano manipulation
APCCAS 2008 - 2008 IEEE Asia Pacific Conference on Circuits and Systems, 2008Co-Authors: Qingsong Xu, Yangmin LiAbstract:This paper presents an experiment-based study on an XY Micromanipulator to achieve a sub-micron resolution for micro/nano scale manipulation. The Micromanipulator is designed with both input and output decoupling properties, which allows the adoption of a SISO controller for the micromanipulation system. Based on the system identification, a digital lag-lead feedback controller is designed to compensate for the hysteresis and creep of the piezoelectric actuator. In view of the relative long control interval, a feedforward controller is then designed to implement a zero phase error tracking control (ZPETC). The positioning performances of the Micromanipulator in terms of resolution, accuracy and repeatability, and tracking performances of 1-D and 2-D motion have been tested by several experimental studies. The experimental results show that the developed Micromanipulator is sufficient for micro-positioning, whereas its tracking performances are expected to be further improved.
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Experimental studies on a Micromanipulator for micro/nano manipulation
APCCAS 2008 - 2008 IEEE Asia Pacific Conference on Circuits and Systems, 2008Co-Authors: Qingsong Xu, Yangmin LiAbstract:This paper presents an experiment-based study on an XY Micromanipulator to achieve a sub-micron resolution for micro/nano scale manipulation. The Micromanipulator is designed with both input and output decoupling properties, which allows the adoption of a SISO controller for the micromanipulation system. Based on the system identification, a digital lag-lead feedback controller is designed to compensate for the hysteresis and creep of the piezoelectric actuator. In view of the relative long control interval, a feedforward controller is then designed to implement a zero phase error tracking control (ZPETC). The positioning performances of the Micromanipulator in terms of resolution, accuracy and repeatability, and tracking performances of 1-D and 2-D motion have been tested by several experimental studies. The experimental results show that the developed Micromanipulator is sufficient for micro-positioning, whereas its tracking performances are expected to be further improved.
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Design modification of a 3-PRC compliant parallel Micromanipulator for micro/nano scale manipulation
2007 7th IEEE Conference on Nanotechnology (IEEE NANO), 2007Co-Authors: Qingsong Xu, Yangmin LiAbstract:The requirements of micro/nano scale manipulation have stimulated the activities around the design and development of new Micromanipulators with ultrahigh precision recently. A novel compliant parallel Micromanipulator (CPM) with 3-PRC architecture has been proposed in previous works of the authors. However, it has been found that there exist some drawbacks in the preliminarily designed CPM in terms of stress stiffening, buckling phenomenon, large parasitic motions, and limited workspace, etc. For the sake of getting rid of these disadvantages, the original 3-PRC CPM is modified in the paper so as to make it possible to be applied in micro/nano scale manipulation fields. Not only the design modification precesses are presented in details, but also the performance validations of the modified CPM are conducted via simulations with ANSYS software.
Ning Xi - One of the best experts on this subject based on the ideXlab platform.
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Design, Fabrication, and Visual Servo Control of an XY Parallel Micromanipulator With Piezo-Actuation
IEEE Transactions on Automation Science and Engineering, 2009Co-Authors: Qingsong Xu, Yangmin Li, Ning XiAbstract:This paper presents a complete design and development procedure of a new XY Micromanipulator for two-dimensional (2-D) micromanipulation applications. The manipulator possesses both a nearly decoupled motion and a simple structure, which is featured with parallel-kinematic architecture, flexure hinge-based joints, and piezoelectric actuation. Based on pseudo-rigid-body (PRB) simplification approach, the mathematical models predicting kinematics, statics, and dynamics of the XY stage have been obtained, which are verified by the finite-element analysis (FEA) and then integrated into dimension optimization via the particle swarm optimization (PSO) method. Moreover, a prototype of the Micromanipulator is fabricated and calibrated using a microscope vision system, and visual servo control employing a modified PD controller is implemented for the accuracy improvement. The experiments discover that a workspace size of 260 mum times 260 mum with a 2-D positioning accuracy and repeatability around 0.73 and 1.02 mum, respectively, can be achieved by the Micromanipulator.