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Contribution à la modélisation des systèmes mécatroniques et micro-mécatroniques.

Abstract : This thesis presents the research work conducted by the author since getting his PhD in 2000. The works were conducted in engineering sciences and concern mainly the modeling and control of mechatronic devices. Indeed, technological devices are becoming more and more complex and their design requires competences and knowledge from various fields. The design stage nowadays needs consequent modeling steps. These preliminary steps allow prediction of the system's behaviour and help the designer during hardware design (device design) as well as the software design (control design). The research reported in this thesis concern mainly micro-mechatronic devices - devices with a very small size or requiring great precision that simultaneously involve electrical, mechanical, thermodynamics and software parts. For these complex systems, coupling phenomena and scale law are predominant. To satisfy the working requirements, they must be taken into account from the beginning of the design procedure. The thesis document is divided into three main chapters each one dealing with a major scientific point. The first chapter deals with the design constraints for microsystems as well as modeling for micro-robotic devices in the frame of MEMS technologies. The second one outlines the modeling and design of micro-robotic devices for micro-manipulation applications (precise positioning, handling technologies and perception for microsystems). Finally, the third chapter details the topic of miniaturization for very high precision positioning systems. It focuses mainly on the use of smart materials and structures for these applications. These works were mainly conducted on two specific active materials: piezoelectric ceramics and magnetic shape memory alloys. These research results allowed the design and experiment of an important number of working prototypes. Most of the control law proposed during the researches could be experimented on these real devices. Performances and limits of the devices could be evaluated and compared with theoretical results and simulations obtained in the preliminary steps.
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Submitted on : Thursday, March 3, 2011 - 3:30:47 PM
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  • HAL Id : tel-00573375, version 1


Arnaud Hubert. Contribution à la modélisation des systèmes mécatroniques et micro-mécatroniques.. Automatique / Robotique. Université de Franche-Comté, 2010. Français. ⟨tel-00573375⟩



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