Title: Analysis and suppression of residual vibration in microhand for high-speed single-cell manipulation

Authors: Ebubekir Avci; Chanh-Nghiem Nguyen; Kenichi Ohara; Yasushi Mae; Tatsuo Arai

Addresses: Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama-cho, Toyonaka, Osaka, 560-8531, Japan ' Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama-cho, Toyonaka, Osaka, 560-8531, Japan ' Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama-cho, Toyonaka, Osaka, 560-8531, Japan ' Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama-cho, Toyonaka, Osaka, 560-8531, Japan ' Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama-cho, Toyonaka, Osaka, 560-8531, Japan

Abstract: Stable grasping of micro-objects at high speed is a desired feature for micromanipulation systems. At high speed, however, the residual vibration tends to be greater. In this paper, we analyse the residual vibration of the end effector of the microhand during the high-speed grasping motion. Based on the analysis results, we propose suppression of residual vibration in two steps. First, the stiffness of the end effector is increased by structural design. Second, feedforward control is implemented since the behaviour of the vibration can predicted for the specific conditions. Preliminary experimental results show that the settling time decreases by 74% and the amplitude of the vibration by 47%.

Keywords: high speed grasping; micromanipulation; vibration control; feedforward control; residual vibration; two-finger microhands; single cell manipulation; micro-objects; end effector stiffness; structural design; cell handling; robot control; robot grasping; pick-and-place tasks; robot hands.

DOI: 10.1504/IJMA.2013.053402

International Journal of Mechatronics and Automation, 2013 Vol.3 No.2, pp.110 - 117

Received: 25 Oct 2012
Accepted: 12 Dec 2012
Published online: 30 Apr 2014 *

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