Trajectory and Conveyance Validation of a Micro Conveyor Based on a Digital Electromagnetic Actuators Array for the Micro-Factory
Micro-factories are characterized by high modularity, reconfigurability and mobility. To achieve this, the micro-factory needs a conveyor which is able to transport objects in as many degrees of freedom (DoF) as possible, executes optimal trajectories of these objects in terms of energy and precisio...
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| Format: | Article |
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MDPI AG
2021-12-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/24/11980 |
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| author | Simon Duque Tisnes Atif Tasneem Laurent Petit Christine Prelle |
| author_facet | Simon Duque Tisnes Atif Tasneem Laurent Petit Christine Prelle |
| author_sort | Simon Duque Tisnes |
| collection | DOAJ |
| description | Micro-factories are characterized by high modularity, reconfigurability and mobility. To achieve this, the micro-factory needs a conveyor which is able to transport objects in as many degrees of freedom (DoF) as possible, executes optimal trajectories of these objects in terms of energy and precision and is robust to withstand possible malfunctions. In this article, we present the planar conveyance of objects on a digital actuation array following trajectories generated by an adapted A* algorithm. The A* algorithm exploits the predictions of a developed dynamic model of the system to find the optimal paths (in terms of energy) on the conveyor surface. The dynamic model predictions were compared to experimental measurements, obtaining low root-mean-square-errors for all conditions. Uni-dimensional conveyance tests characterized the influence of the control parameters. Then, bi-dimensional motions characterized the conveyor’s performance. From the bi-dimensional test, a position root-mean-square-error of 20 μm was measured for a 1109 μm open-loop controlled trajectory. The modular nature of the array allows easy scaling and avoiding possible malfunctioning zones, increasing the robustness of the micro-conveyor. The experimental tests demonstrate that the proposed device is an interesting alternative for the micro-factory. |
| first_indexed | 2024-03-10T04:36:42Z |
| format | Article |
| id | doaj.art-789d5cd020cd4cd39bacc92bd577880a |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T04:36:42Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-789d5cd020cd4cd39bacc92bd577880a2023-11-23T03:41:22ZengMDPI AGApplied Sciences2076-34172021-12-0111241198010.3390/app112411980Trajectory and Conveyance Validation of a Micro Conveyor Based on a Digital Electromagnetic Actuators Array for the Micro-FactorySimon Duque Tisnes0Atif Tasneem1Laurent Petit2Christine Prelle3Université de Technologie de Compiègne (UTC), Laboratoire Roberval (Mechanics, Energy and Electricity), Centre de Recherche Royallieu CS 60319, 60203 Compiègne, FranceUniversité de Technologie de Compiègne (UTC), Laboratoire Roberval (Mechanics, Energy and Electricity), Centre de Recherche Royallieu CS 60319, 60203 Compiègne, FranceUniversité de Technologie de Compiègne (UTC), Laboratoire Roberval (Mechanics, Energy and Electricity), Centre de Recherche Royallieu CS 60319, 60203 Compiègne, FranceUniversité de Technologie de Compiègne (UTC), Laboratoire Roberval (Mechanics, Energy and Electricity), Centre de Recherche Royallieu CS 60319, 60203 Compiègne, FranceMicro-factories are characterized by high modularity, reconfigurability and mobility. To achieve this, the micro-factory needs a conveyor which is able to transport objects in as many degrees of freedom (DoF) as possible, executes optimal trajectories of these objects in terms of energy and precision and is robust to withstand possible malfunctions. In this article, we present the planar conveyance of objects on a digital actuation array following trajectories generated by an adapted A* algorithm. The A* algorithm exploits the predictions of a developed dynamic model of the system to find the optimal paths (in terms of energy) on the conveyor surface. The dynamic model predictions were compared to experimental measurements, obtaining low root-mean-square-errors for all conditions. Uni-dimensional conveyance tests characterized the influence of the control parameters. Then, bi-dimensional motions characterized the conveyor’s performance. From the bi-dimensional test, a position root-mean-square-error of 20 μm was measured for a 1109 μm open-loop controlled trajectory. The modular nature of the array allows easy scaling and avoiding possible malfunctioning zones, increasing the robustness of the micro-conveyor. The experimental tests demonstrate that the proposed device is an interesting alternative for the micro-factory.https://www.mdpi.com/2076-3417/11/24/11980conveyance systemmicro-factorydiscrete actuatorcollaborative actuationMEMS arraydigital actuation |
| spellingShingle | Simon Duque Tisnes Atif Tasneem Laurent Petit Christine Prelle Trajectory and Conveyance Validation of a Micro Conveyor Based on a Digital Electromagnetic Actuators Array for the Micro-Factory Applied Sciences conveyance system micro-factory discrete actuator collaborative actuation MEMS array digital actuation |
| title | Trajectory and Conveyance Validation of a Micro Conveyor Based on a Digital Electromagnetic Actuators Array for the Micro-Factory |
| title_full | Trajectory and Conveyance Validation of a Micro Conveyor Based on a Digital Electromagnetic Actuators Array for the Micro-Factory |
| title_fullStr | Trajectory and Conveyance Validation of a Micro Conveyor Based on a Digital Electromagnetic Actuators Array for the Micro-Factory |
| title_full_unstemmed | Trajectory and Conveyance Validation of a Micro Conveyor Based on a Digital Electromagnetic Actuators Array for the Micro-Factory |
| title_short | Trajectory and Conveyance Validation of a Micro Conveyor Based on a Digital Electromagnetic Actuators Array for the Micro-Factory |
| title_sort | trajectory and conveyance validation of a micro conveyor based on a digital electromagnetic actuators array for the micro factory |
| topic | conveyance system micro-factory discrete actuator collaborative actuation MEMS array digital actuation |
| url | https://www.mdpi.com/2076-3417/11/24/11980 |
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