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A Modified Cooperative A* Algorithm for the Simultaneous Motion of Multiple Microparts on a "Smart Platform" with
Georgia Kritikou1, Nikos Lamprianidis2, Nikos Aspragathos3
1Robotics Group, Department of Mechanical Engineering and Aeronautics, University of Patras, 265 04 Rio, Greece. gkritikou@upatras.gr.
Micromachines
|February 5, 2019
Summary
This study introduces a novel method for parallel micropart manipulation using electrostatic forces on a smart platform. The approach optimizes micropart movement through advanced algorithms and pathfinding, enhancing precision in micro-assembly.
Area of Science:
- Micro-robotics and MEMS (Micro-Electro-Mechanical Systems)
- Electrostatics and Electromechanics
- Computational Engineering and Simulation
Background:
- Micropart manipulation is crucial for micro-assembly and micro-manufacturing.
- Existing methods often face challenges in precision, speed, and parallel processing.
- Electrostatic actuation offers a promising, non-contact method for precise control.
Purpose of the Study:
- To introduce a novel method for parallel micropart manipulation using electrostatic forces.
- To present the design of a Programmable Smart Platform with embedded electrodes.
- To develop and simulate algorithms for precise micropart motion and path planning.
Main Methods:
- Detailed study of electrostatic phenomena and force generation by activated electrodes.
- Development of electrode activation algorithms for controlled micropart movement.
- Simulation of micropart motion, considering static and dynamic obstacles within the Configuration-Space (C-Space).
- Implementation of a modified A* algorithm for optimal path computation.
Main Results:
- Successful simulation of parallel manipulation of rectangular microparts using electrostatic forces.
- Definition and utilization of the micropart Configuration-Space (C-Space) for collision-free path planning.
- Demonstration of the modified A* algorithm's effectiveness in computing time-optimal paths.
- Validation of the proposed approach through simulated experiments.
Conclusions:
- The proposed method effectively enables parallel micropart manipulation via electrostatic forces on a smart platform.
- The developed algorithms and modified A* path planning significantly enhance control and efficiency.
- This approach holds potential for advanced micro-assembly and micro-manufacturing applications.
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