Abstract
This paper presents the mechanical design, optimisation and tracking control of a flexure-based positioning stage to generate coupled linear and angular motions. The mechanism employs two piezoelectric actuators, with output translation and rotation proportional to the difference and sum of the input displacements. Computational optimisation utilising finite element analysis is used to develop designs that maximise the working range. A dynamic model is developed, leading to the establishment of a proposed sliding mode controller to allow the stage to track desired trajectories. An adaptive gain is implemented to reduce errors in the estimated kinematics, and accommodate creep within the mechanism. A prototype of the mechanism has been manufactured, and experimentation has been performed to verify computational predictions of the mechanism behaviour. The ability of the proposed controller to execute precise tracking of a desired trajectory within the workspace is demonstrated in the experimental study.
| Original language | English |
|---|---|
| Pages (from-to) | 34-43 |
| Number of pages | 10 |
| Journal | Mechatronics |
| Volume | 32 |
| DOIs | |
| Publication status | Published - 1 Dec 2015 |
Keywords
- Adaptive control
- Flexure-based mechanism
- Micro-nano positioning
- Sliding mode control
Cite this
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Development and control of a two DOF linear-angular precision positioning stage. / Clark, Leon; Shirinzadeh, Bijan; Bhagat, Umesh; Smith, Julian; Zhong, Yongmin.
In: Mechatronics, Vol. 32, 01.12.2015, p. 34-43.Research output: Contribution to journal › Article › Research › peer-review
TY - JOUR
T1 - Development and control of a two DOF linear-angular precision positioning stage
AU - Clark, Leon
AU - Shirinzadeh, Bijan
AU - Bhagat, Umesh
AU - Smith, Julian
AU - Zhong, Yongmin
PY - 2015/12/1
Y1 - 2015/12/1
N2 - This paper presents the mechanical design, optimisation and tracking control of a flexure-based positioning stage to generate coupled linear and angular motions. The mechanism employs two piezoelectric actuators, with output translation and rotation proportional to the difference and sum of the input displacements. Computational optimisation utilising finite element analysis is used to develop designs that maximise the working range. A dynamic model is developed, leading to the establishment of a proposed sliding mode controller to allow the stage to track desired trajectories. An adaptive gain is implemented to reduce errors in the estimated kinematics, and accommodate creep within the mechanism. A prototype of the mechanism has been manufactured, and experimentation has been performed to verify computational predictions of the mechanism behaviour. The ability of the proposed controller to execute precise tracking of a desired trajectory within the workspace is demonstrated in the experimental study.
AB - This paper presents the mechanical design, optimisation and tracking control of a flexure-based positioning stage to generate coupled linear and angular motions. The mechanism employs two piezoelectric actuators, with output translation and rotation proportional to the difference and sum of the input displacements. Computational optimisation utilising finite element analysis is used to develop designs that maximise the working range. A dynamic model is developed, leading to the establishment of a proposed sliding mode controller to allow the stage to track desired trajectories. An adaptive gain is implemented to reduce errors in the estimated kinematics, and accommodate creep within the mechanism. A prototype of the mechanism has been manufactured, and experimentation has been performed to verify computational predictions of the mechanism behaviour. The ability of the proposed controller to execute precise tracking of a desired trajectory within the workspace is demonstrated in the experimental study.
KW - Adaptive control
KW - Flexure-based mechanism
KW - Micro-nano positioning
KW - Sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=84949239435&partnerID=8YFLogxK
U2 - 10.1016/j.mechatronics.2015.10.001
DO - 10.1016/j.mechatronics.2015.10.001
M3 - Article
VL - 32
SP - 34
EP - 43
JO - Mechatronics
JF - Mechatronics
SN - 0957-4158
ER -