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Design and development of miniature robotic devices

By Dragan Avirovik

Design and development of miniature robotic devices
Topics covered: Dynamical Analysis, Finite Element Modeling, Development of Control Systems, Active Materials and Smart Structures
My current projects include:

  • Design and Analysis of a piezoelectric actuator
  • Development of a three axis positioning and scanning system with micrometer resolution
  • FEM analysis using ATILA on various projects

My Research short video

 

Piezoelectric motor

This project is based on the design, development and analysis of a piezoelectric actuator which will be used for actuation of miniature medical devices. It uses two piezoelectric bimorphs attached in an L-Shape formation. This formation allows an elliptical motion at the tip to be obtained, which can be used to conduct linear or rotational actuation.

   

Piezoelectric actuator and operation principal Figure 1: Piezoelectric actuator and operation principal

Three axis scanning and positioning system with micrometer resolution

This project involves the design and development of a three axis scanning and positioning stage used for medical applications. Imagine a surgeon using a joystick to conduct an intricate procedure on a patient located in another room. The three axis scanning and positioning stage that I am developing does just that. It integrates an optical coherence tomography probe and a laser scalpel. The device is image guided using the coherence tomography probe and therefore is able to pin point any location requiring a laser scalpel incision. In order to shrink the size of this device I am looking into developing a three axis scanning and positioning stage using only one or, at most, two actuators.               

   

Three axis scanning and positioning stage and a Labview interface of the control system, Three axis scanning and positioning system using a single actuator for x and y scanning and manual z axis positioning Figure 2 (Left)Three axis scanning and positioning stage and a Labview interface of the control system, (Right) Three axis scanning and positioning system using a single actuator for x and y scanning and manual z axis positioning

 FEM analysis in ATILA


One of the most popular software used for modeling active materials and smart structures such as piezoelectric and magnetostrictive materials is ATILA. Since the most fundamental work in the CEHMS lab is based on these materials, modeling in ATILA takes a significant part in my research. I have conducted analysis on multiple projects, from modeling simple piezoelectric bimorphs, to modeling a piezoelectric actuator and non-conventional structures. Some of the analyses are illustrated in Figure 3.


   

ATILA analysis of non-conventional structures Figure 3: ATILA analysis of non-conventional structures

   

Atila analysis on a piezoelectric actuator Figure 3: Atila analysis on a piezoelectric actuator

   

ATILA analysis on a magnetostrictive sensor Figure 5: ATILA analysis on a magnetostrictive sensor