Research Papers

Design, Analysis, and Control of a Novel Safe Cell Micromanipulation System With IPMC Actuators

[+] Author and Article Information
A. J. McDaid

e-mail: amcd039@aucklanduni.ac.nz

K. C. Aw

Department of Mechanical Engineering,
The University of Auckland,
Private Bag 92019,
Auckland, 1010, New Zealand

1Corresponding author.

Contributed by the Design Innovation and Devices of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received February 8, 2012; final manuscript received March 27, 2013; published online May 9, 2013. Assoc. Editor: Diann Brei.

J. Mech. Des 135(6), 061003 (May 09, 2013) (10 pages) Paper No: MD-12-1103; doi: 10.1115/1.4024226 History: Received February 08, 2012; Revised March 27, 2013

This paper presents the design, analysis, and control of a novel micromanipulation system to facilitate the safe handling/probing of biological cells. The robotic manipulator has a modular design, where each module provides two degrees-of-freedom (2DOF) and the overall system can be made up of a number of modules depending on the desired level of dexterity. The module design has been optimized in simulation using an integrated ionic polymer-metal composite (IPMC) model and mechanical mechanism model to ensure the best system performance from the available IPMC material. The optimal system consists of two modules with each DOF actuated by a 27.5 mm long by 10 mm wide actuator. A 1DOF control structure has been developed, which is adaptively tuned using a model-free iterative feedback tuning (IFT) algorithm to adjust the controller parameters to optimize the system tracking performance. Experimental results are presented which show the tuning of the system improves the performance by 24% and 64% for the horizontal and vertical motion, respectively. Experimental characterization has also been undertaken to show the system can accurately achieve outputs of up to 7 deg and results for position tracking in both axes are also presented.

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Fig. 1

Mechanical actuation response of an IPMC transducer with a voltage applied [6]

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Fig. 2

Conventional cell micromanipulation system

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Fig. 3

(a) Individual 2DOF micromanipulation module. Conceptual design of multi micromanipulation system with (b) 2 modules and (c) 3 modules. Any number of devices can be positioned together and cooperate in order to achieve many manipulation tasks.

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Fig. 4

(a) Top and (b) side view of a micromanipulation module with sensors and microscope

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Fig. 5

Schematic diagram of electromechanical IPMC model used for simulation [20]

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Fig. 6

Model simulation of a 27.5 mm long by 10 mm wide IPMC with clamped length of 5 mm, under a 1, 2, and 3 V input after 30 s

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Fig. 7

Possible configurations for cutting sheet of IPMC material

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Fig. 10

Manipulation system module with IPMCs and microprobe

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Fig. 9

1DOF control system

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Fig. 8

Open-loop simulation results for (a) horizontal, (b) vertical, and (c) end effector path

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Fig. 11

Vertical tracking response for a set point reference with the initial and tuned controller after ten iterations of IFT

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Fig. 12

The cost function for the (a) horizontal and (b) vertical joints for ten iterations of IFT tuning

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Fig. 13

Range and accuracy experiments for the IFT tuned system for (a) horizontal and (b) vertical motion

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Fig. 14

2DOF tracking for a (a) square and (b) a circle



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