Microrobotics is an ongoing study all over the world for which design is often inspired from macroscale robots. We have proposed the design of a new kind of microfabricated microrobot based on the use of binary actuators in order to generate a highly accurate and repeatable tool for positioning tasks at microscale without any sensor (with open-loop control). Our previous work consisted in the design, modeling, fabrication, and characterization of the first planar digital microrobot. In this paper, we focus on the motion planning of this robot for micromanipulation tasks. The complex motion pattern of this robot requires the use of algorithms. Graph theory is well suited for the discrete workspace generated by this robot. The comparison between several well-known trajectory-planning algorithms is done. A new graphical representation, named the hypercubic graph, is used for improving the computation speed of the algorithm. This is particularly useful for large workspace robots.
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April 2016
Research-Article
Trajectory Planning for Micromanipulation With a Nonredundant Digital Microrobot: Shortest Path Algorithm Optimization With a Hypercube Graph Representation
Vincent Chalvet,
Vincent Chalvet
AS2M Department,
FEMTO-ST Institute,
Universite Bourgogne Franche-Comte,
Universite de Franche-Comte/CNRS/ENSMM,
24 rue Savary,
Besançon F-25000, France
e-mail: vchalvet@gmail.com
FEMTO-ST Institute,
Universite Bourgogne Franche-Comte,
Universite de Franche-Comte/CNRS/ENSMM,
24 rue Savary,
Besançon F-25000, France
e-mail: vchalvet@gmail.com
Search for other works by this author on:
Yassine Haddab,
Yassine Haddab
AS2M Department,
FEMTO-ST Institute,
Universite Bourgogne Franche-Comte,
Universite de Franche-Comte/CNRS/ENSMM,
24 rue Savary,
Besançon F-25000, France
e-mail: yassine.haddab@femto-st.fr
FEMTO-ST Institute,
Universite Bourgogne Franche-Comte,
Universite de Franche-Comte/CNRS/ENSMM,
24 rue Savary,
Besançon F-25000, France
e-mail: yassine.haddab@femto-st.fr
Search for other works by this author on:
Philippe Lutz
Philippe Lutz
AS2M Department,
FEMTO-ST Institute,
Université Bourgogne Franche-Comté,
Université de Franche-Comté/CNRS/ENSMM,
24 rue Savary,
Besançon F-25000, France
e-mail: philippe.lutz@femto-st.fr
FEMTO-ST Institute,
Université Bourgogne Franche-Comté,
Université de Franche-Comté/CNRS/ENSMM,
24 rue Savary,
Besançon F-25000, France
e-mail: philippe.lutz@femto-st.fr
Search for other works by this author on:
Vincent Chalvet
AS2M Department,
FEMTO-ST Institute,
Universite Bourgogne Franche-Comte,
Universite de Franche-Comte/CNRS/ENSMM,
24 rue Savary,
Besançon F-25000, France
e-mail: vchalvet@gmail.com
FEMTO-ST Institute,
Universite Bourgogne Franche-Comte,
Universite de Franche-Comte/CNRS/ENSMM,
24 rue Savary,
Besançon F-25000, France
e-mail: vchalvet@gmail.com
Yassine Haddab
AS2M Department,
FEMTO-ST Institute,
Universite Bourgogne Franche-Comte,
Universite de Franche-Comte/CNRS/ENSMM,
24 rue Savary,
Besançon F-25000, France
e-mail: yassine.haddab@femto-st.fr
FEMTO-ST Institute,
Universite Bourgogne Franche-Comte,
Universite de Franche-Comte/CNRS/ENSMM,
24 rue Savary,
Besançon F-25000, France
e-mail: yassine.haddab@femto-st.fr
Philippe Lutz
AS2M Department,
FEMTO-ST Institute,
Université Bourgogne Franche-Comté,
Université de Franche-Comté/CNRS/ENSMM,
24 rue Savary,
Besançon F-25000, France
e-mail: philippe.lutz@femto-st.fr
FEMTO-ST Institute,
Université Bourgogne Franche-Comté,
Université de Franche-Comté/CNRS/ENSMM,
24 rue Savary,
Besançon F-25000, France
e-mail: philippe.lutz@femto-st.fr
Manuscript received March 9, 2015; final manuscript received September 22, 2015; published online November 24, 2015. Assoc. Editor: Jian S. Dai.
J. Mechanisms Robotics. Apr 2016, 8(2): 021013 (9 pages)
Published Online: November 24, 2015
Article history
Received:
March 9, 2015
Revised:
September 22, 2015
Accepted:
September 29, 2015
Citation
Chalvet, V., Haddab, Y., and Lutz, P. (November 24, 2015). "Trajectory Planning for Micromanipulation With a Nonredundant Digital Microrobot: Shortest Path Algorithm Optimization With a Hypercube Graph Representation." ASME. J. Mechanisms Robotics. April 2016; 8(2): 021013. https://doi.org/10.1115/1.4031807
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