Gramian-based optimal design of a dynamic stroke amplifier compliant micro-mechanism.

Mathieu Grossard (1) , Christine Rotinat-Libersa (2) , Nicolas Chaillet (1)

1 LAB - Laboratoire d'automatique de Besançon
2 LRM - Laboratoire Robotique et Mesorobotique

This paper presents a new method developed for the optimal design of microrobotic compliant mechanisms. It is based on a flexible building block method, called FlexIn, which uses an evolutionary approach, to optimize a truss-like structure made of building blocks. From the first design step, in addition to conventional mechanical criteria, dynamic gramian-based metrics can be considered in the optimization procedure to fit expected frequency responses of the synthetized mechanisms. A planar monolithic compliant coupling structure is obtained by the optimal design method to act as a stroke amplifier for piezoelectric stacked actuators, to operate in both static and dynamic motions, and to passively filter out undesirable vibrations. Finally, performance comparisons between some of the pseudo-optimal FlexIn synthetized compliant mechanisms demonstrate the interests of the proposed optimization method for the design of dynamic operating smart microrobotic structures.

Domaines: Micro et nanotechnologies/Microélectronique

Mathieu Grossard, Christine Rotinat-Libersa, Nicolas Chaillet. Gramian-based optimal design of a dynamic stroke amplifier compliant micro-mechanism.. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'07., Oct 2007, San Diego, CA., United States. pp.4007-4012. ⟨hal-00187272⟩