Design of integrated flexible structures for Micromanipulation.
Résumé
The design of robotic micromanipulators relies on flexible mechanical structures. These are increasingly being used due to their integration of actuator and measuring functions. The general design context for these integrated systems has resulted in a complex and multi-disciplinary approach to the problem. This design exploits structures flexibility to respond to the challenges of robotic manipulation on a microworld scale. The design analysis approach is used in fields ranging from material sciences to advanced automatic control and topological structural optimization. In this chapter, the need for optimal design aid tools for these systems will be clearly highlighted and a range of existing optimization strategies will be examined. Finally, an illustrative example that focuses on the development of an optimal design software tool for flexible monolithic structures, will conclude the chapter. The structures are capable of maintaining actuator and sensor functions in a distributed and integrated form using piezoelectric materials.