Introduction xiii
Mathieu GROSSARD, Stephane REGNIER and Nicolas
CHAILLET
Chapter 1. Design of Integrated Flexible Structures for
Micromanipulation 1
Mathieu GROSSARD, Mehdi BOUKALLEL, Stephane REGNIER
and Nicolas CHAILLET
1.1. Design and control problems for flexible structures in
micromanipulation 2
1.2. Integrated design in micromechatronics 11
1.3. Example of an optimal synthesis method for flexible
piezoelectric transduction structures 25
1.4. Conclusion 31
1.5. Bibliography 32
Chapter 2. Flexible Structures? Representation and
Notable Properties in Control 37
Mathieu GROSSARD, Arnaud HUBERT, Stephane REGNIER and
Nicolas CHAILLET
2.1. State-space representation of flexible structures 38
2.2. The concepts of modal controllability and observability
47
2.3. Reduction of models 52
2.4. Contribution of modal analysis criteria to topological
optimization 56
2.5. Conclusion 68
2.6. Bibliography 69
Chapter 3. Structured Energy Approach for the Modeling of
Flexible Structures 73
Nandish R. CALCHAND, Arnaud HUBERT, Yann LE GORREC and Hector
RAMIREZ ESTAY
3.1. Introduction 73
3.2. Finite-dimensional systems 75
3.3. Infinite-dimensional systems 95
3.4. Conclusion 111
3.5. Bibliography 112
Chapter 4. Open-Loop Control Approaches to Compliant
Micromanipulators 115
Yassine HADDAB, Vincent CHALVET and Micky RAKOTONDRABE
4.1. Introduction 115
4.2. Piezoelectric microactuators 116
4.3. Thermal microactuators 128
4.4. Conclusion 142
4.5. Bibliography 142
Chapter 5. Mechanical Flexibility and the Design of Versatile
and Dexterous Grippers 145
Javier MARTIN AMEZAGA and Mathieu GROSSARD
5.1. Robotic gripper systems 146
5.2. Actuation architecture and elastic elements
153
5.3. Structural flexibility 166
5.4. Conclusion 177
5.5. Bibliography 178
Chapter 6. Flexible Tactile Sensors for Multidigital
Dexterous In-hand Manipulation 181
Mehdi BOUKALLEL, Hanna YOUSEF, Christelle GODIN and Caroline
COUTIER
6.1. Introduction 181
6.2. Human dexterous manipulation as a basis for robotic
manipulation 182
6.3. Technologies for tactile sensing 188
6.4. A comparison of sensor solutions and sensing techniques
213
6.5. The Nail sensor 214
6.6. From the Nail sensor to tactile skin 220
6.7. From tactile skin to artificial touch system 225
6.8. Applications and signal analysis 228
6.9. Summary and conclusion 233
6.10. Bibliography 235
Chapter 7. Flexures for High-Precision Manipulation Robots
243
Reymond CLAVEL, Simon HENEIN and Murielle RICHARD
7.1. High-precision industrial robots background
243
7.2. Kinematic analysis of simple flexures 248
7.3. Design method of parallel modular kinematics for flexures
260
7.4. Example of the Legolas 5 robot design 264
7.5. Bibliography 273
Chapter 8. Modeling and Motion Control of Serial Robots with
Flexible Joints 275
Maria MAKAROV and Mathieu GROSSARD
8.1. Introduction 275
8.2. Modeling 276
8.3. Identification 284
8.4. Motion control 295
8.5. Conclusion 310
8.6. Bibliography 310
Chapter 9. Dynamic Modeling of Deformable Manipulators
321
Frederic BOYER and Ayman BELKHIRI
9.1. Introduction 321
9.2. Newton?Euler model of an elastic body 324
9.3. Kinematic model of a deformable manipulator 337
9.4. Dynamic model of a deformable manipulator 340
9.5. Example 342
9.6. Conclusion 346
9.7. Bibliography 346
Chapter 10. Robust Control of Robotic Manipulators with
Structural Flexibilities 349
Houssem HALALCHI, Loïc CUVILLON, Guillaume MERCÈRE and
Edouard LAROCHE
10.1. Introduction 349
10.2. LTI methodology 350
10.3. Toward an LPV methodology 359
10.4. Conclusion 379
10.5. Bibliography 379
List of Authors 383
Index 385
