Mechatronic systems design and development


The research in this thematics aims to study, design and develop mechatronic systems that work at small scales or that have dimensions convenient for tasks at small scales. On the whole, the studied and developed mechatronic systems at MACS team are devoted:

- to perform action (such as positioning, damping, ...) and actuation at small scales,

- and to harvest energy at small scales.

While small scales require certain severe specifications such as very high resolution of positioning in the case of actuation, our expertise to reach such request lies in the use of smart or active materials because of the nanometric resolution they can offer. We mostly use, though not limited to, piezoelectric materials which can offer large bandwidth that are essential in many applications we are dealing with. The studied and developed systems are miniaturized actuated systems from one-degree of freedom to multi-degree of freedom structures; and piezoelectric energy harvesting systems (hybrid, multi-degrees of freedom, and 3D structured).

To reach the specifications imposed to the to be developed mechatronic systems, the scientific key consists in proposing methodologies of design. Two approaches are developed by the MACS team: optimal design and robust design. They are quickly described below.

Optimal design of 3D miniaturized mechatronic systems


Today, rapid advancing on additive manufacturing - especially 3D printing - offers new perspectives to design innovative micro mechatronic systems. These processes allow - for example to design 3D complex monolithic - macro-structures as well as micro structures. Taking advantage of this advanced technology, this research topic focuses on the design of new 3D micro mechatronic architectures associating high-resolution actuation and measurement mechanisms within a compliant structure. Toward this end, the work is interested on the development of systematic design methodologies based on topology optimization in particular SIMP method (Solid Isotropic Material with Penalization). Such method has been successfully utilized to design compliant mechanical structures. Basically, it gives option to modify the topology of the structure in order to match the required specifications. However, this method is particularly well established to optimize planar structures. Therefore, there is a real scientific challenge to adapt this method in order to take into account smart material such as piezoelectric material, which is essential to built, for example, actuators or energy harvesters. In addition, 3D extension is also required since 3D structures are privileged.

Samples of publications

Thomas Schlinquer, Abdenbi Mohand-Ousaid and Micky Rakotondrabe, 'Displacement amplifier mechanism for piezoelectric actuators design using SIMP topology optimization approach', IEEE - ICRA, (International Conference on Robotics and Automation), pp.4305-4311, Brisbane Australia, May 2018.

Thomas Schlinquer, Abdenbi Mohand-Ousaid and Micky Rakotondrabe, 'Optimal design of a unimorph piezoelectric cantilever devoted to energy harvesting to supply animal tracking devices', IFAC - WC , (World Congress), pp.15165-15170, Toulouse France, July 2017.

Dominique Gendreau, Patrick Rougeot, Abdenbi Mohand Ousaid and Micky Rakotondrabe, '3D-Printing: a promising technology to design three-dimensional microsystems', MARSS, (International Conference on Manipulation, Automation and Robotics at Small Scales), accepted, Paris France, July 2016.

Patrick Rougeot, Abdenbi Mohand Ousaid, Dominique Gendreau and Micky Rakotondrabe, 'Design, modeling and simulation of a three-layers piezoelectric cantilevered actuator with collocated sensor', SPIE - Sensing Technology+Applications; Sensors for Next Generation Robots conference, accepted, Baltimore Maryland USA, April 2016.

Abdenbi Mohand Ousaid, Dominique Gendreau, Patrick Rougeot and Micky Rakotondrabe, 'Design, static modeling and simulation of a 5-DOF precise piezoelectric positioner', SPIE Sensing Technologies / Sensors for Next-Generation Robotics, Baltimore MA USA, accepted, Baltimore Maryland USA, April 2016.

Robust design of miniaturized mechatronic systems


Interval techniques and related tools have the particularity and advantage to provide “guarantee” in the results. Whilst they are well employed in different domains (control theory, computer and calculation,...), they are not really exploited in structures or systems design. Our works here consist in providing new design methodologies for micromechatronic systems by using interval tools. The principle consists in combining intervals and physical/geometrical modeling, and proposing problem formulations and algorithms, to result in convenient dimensions or systems parameters in order to satisfy some specified performances. If results exist, it is guaranteed that the designed system will satisfy these performances.

Samples of publications

Micky Rakotondrabe and Sofiane Khadraoui, 'Design of piezoelectric actuators with guaranteed performances using the performances inclusion theorem and interval tools', a chapter in 'Smart materials-based actuators at the micro/nano-scale: characterization, control and applications' edited by Micky Rakotondrabe, Springer - Verlag, New York, ISBN 978-1-4614-6683-3, 2013.

Sofiane Khadraoui, Micky Rakotondrabe and Philippe Lutz, ' Optimal design of piezoelectric cantilevered actuators with guaranteed performances by using interval techniques', IEEE/ASME - Transactions on Mechatronics (T-mech), Volume 19, Issue 5, Page 1660-1668, October 2014.

Development of smart materials based structures and systems for small scales tasks

We also study and develop structures and systems based on smart materials at large, with piezoelectric materials being our long-standing experience. These structures and systems are mainly for tasks at small scales: actuation and harvesting energy. Some of them can perform actuation and sensing simultaneously. In actuation, the general target is to perform high dynamics and/or high precision positioning.

Involved people

- Abdenbi Mohand-Ousaid

- Thomas Schlinquer

- Abbas Homayouni Amlashi

- Neetu Kumari

- Romain Catry

- Dominique Gendreau

- Philippe Lutz

- Patrick Rougeot

- Micky Rakotondrabe