Einladung zum Vortrag im Kolloquium Technische Kybernetik
Control of inertial drives for micro- and nanorobots and their realisation in multiple degrees of freedom
Prof. Roland Büchi
Zurich University of Applied Sciences
Zeit: Dienstag· 12. 02. 2008 · 16:00 Uhr
Ort: IST-Seminarraum 3.241 · Pfaffenwaldring 9 · Campus Stuttgart-Vaihingen
The need for high precision robots dedicated to the assembly of microsystems has led to the design of new kinds of actuators able to reach very high positional accuracy over large distances. Among these, inertial sliders have reached considerable interest in the last years. They have the advantage of being based on a simple principle that leads to a simple mechanical design. However, because they are based on the nonlinearity of friction, it is not easy to predict their stepsize repeatability.
In order to understand the most important parameters affecting the precision of inertial drives, a 1 degree of freedom inertial slider has been developed. Analytical formulas describing the influence of different parameters, such as static and dynamic friction and mass distribution, have been developed. In order to reach every position in a wide working range by an accuracy of 10nm, a 2 stage positioning control has been established. Furthermore, to make the system operate as robot in more than one degree of freedom, a special mechanic device was built and integrated into a complete nanorobot system.
Roland Büchi obtained a MSc degree in Electrical Engineering at Swiss Federal Institute of Technology (ETH), in 1994. He was joining the robotics group of Prof. Schweitzer and received his PhD in 1996. During the following years, he controlled active magnetic bearings at MECOS, a spin of company of ETH. In the year 2001, he was elected as a full-time Professor at Zurich University of Applied Sciences, Winterthur, where he is working in the field of new Actuators and Sensors. Since 2003 he is head of the diploma course in Electrical Engineering.