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A master-slave robot using piezo-actuator for micro assembly application




Micromanipulation and micro-assembly represent a field of technology that is gaining more and more importance. Designing tools able to manipulate small objects is a hard task because a lot of problems must be solved before obtaining operational micromanipulators. The difficulty to find tools and machines able to execute dexterous manipulation of small mechanical components is a severe limitation for manufacturing of micromechanical systems.
In the high-precision industry, the piezoelectric actuator is widely used for the position control because that the piezoelectric element has the characteristics of good performances in the controlling of precise motion, high-frequency response, high-conversion efficiency between electrical energy and mechanical energy, miniature size, and small thermal expansion during actuation.
In this work we are interested in the design and implementation of a master-slave robot.
  Current Students


Mohammad Zareinejad, PhD Student


Reza Seifabadi, MSc Student

MSc thesis: "Modeling Of  a Teleoperation System Using  Piezo-actuator For Micromanipulation."


Hossein Habibollahi, MSc Student

MSc thesis:"Behavior  and mechanism Analysis of piezoactuator in precision grinding"


Kamran Razi,MSc Student


  Previous Students

Reza Monfaredi, MSc Student


Reza Monfaredi,Kamran Razi, Saeed Shiry Ghidary, Seied Mehdi Rezaei, "Achieving High Transparency in Bilateral Teleoperation Using Stiffness Observer for Passivity Control", IROS2006, Beijing, China, October 9-15, 2006

Kamran Razi,,Reza Monfaredi, Saeed Shiry Ghidary, Seied Mehdi Rezaei, "A New Indicator for Gain-Switching Control of Position Error-based Teleoperation System", IROS2006, Beijing, China, October 9-15, 2006

Hossein Habibollahi Najafabadi, Seyed Mehdi Rezaei, Saeed Shiry Ghidary, Mohammad Zareinejad, Kamran Razi and Reza Seifabadi, "Hysteresis Compensation of Piezoelectric Actuators under Dynamic Load Condition",The 2007 IEEE/RSJ International Conference onIntelligent Robots and Systems, IROS 2007, San Diego California, Oct 29-Nov 2, 2007.

Kamran Razi, S. MJ. Yazdanpanah, Saeed Shiry Ghidary, "Position Coordination of a Linear Teleoperation System with Constant Time Delay", Intelligent Robots and Systems, IROS 2007, San Diego California, Oct 29-Nov 2, 2007.

Last update: 1/12/07