An Implementation Of Fuzzy Controller For Micro-Gripper (MEMS)

Abdulwahid Mohammed Aldhubhani, Saeed Abdulhalim (2018) An Implementation Of Fuzzy Controller For Micro-Gripper (MEMS). Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Micro-gripper is one of MEMS application that used to grip a micro object in medical field in case that it cannot be done by human hand.In this project,the design of micro-gripper actuator is explored which has several designs such as electro-thermal,shape memory alloy,piezo-electric,pneumatic,electrostatic,and electromagnetic actuations.Based on the comparation,electrostatic micro-gripper was chosen in this project to be studied since it is widely applied for microactuation and provides a largely displacement without hysteresis with a simple structure.However,electrostatic micro-gripper suffers from vibration and shaking during the pick and placed movement.Therefore,it is very crucial to implement a controller for the system to achieve the best response that provides a smooth closing and opening movement of the gripper fingers.Fuzzy Logic Controllers is an intelligent technique that proves to be the one of the most reliable controller that suits well for system due to the simple control based on user input without any prior knowledge to the mathematical model.To be more specific,three types of fuzzy logic rules are being selected which is 9,25,49 rules and applied in two different designs for the linguistic variables that has different universe of discourse range.The implementation of this project is conducted by using simulation of micro-gripper through MATLAB Simulink.The performance was analyzed and studied in terms of transient response based in overshoot (OS%),settling time (Ts),rise time (Tr),and steady state error (ess).The result shows the improvement in the transient response.The rules have been designed and compared with the original mems micro gripper system. From the comparative study second design of 3x3 rules shows the better performance result can be gained from fuzzy logic controller.It has modified the transient problem and directly eliminate the vibration and shaking in the mems micro gripper system.So,it will benefit the medical field and its application.

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