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Improving load capacity of stick-slip actuators in both driving directions via a shared driving foot

锯齿波 执行机构 夹紧 打滑(空气动力学) 电压 波形 过程(计算) 计算机科学 控制理论(社会学) 工程类 模拟 结构工程 机械工程 控制(管理) 电气工程 人工智能 航空航天工程 操作系统 计算机视觉
作者
Yangkun Zhang,Meilin Wang,Yimin Fan,Tien‐Fu Lu,Yang Cheng,Yuxin Peng
出处
期刊:Smart Materials and Structures [IOP Publishing]
卷期号:28 (6): 065004-065004 被引量:32
标识
DOI:10.1088/1361-665x/ab1428
摘要

Stick-slip piezoelectric actautors are promising actautors with prinicipally unlimited stroke and positioning resolution. However, it is challenged with a low load capacity, which limits the field of application. Various types of compliant driving foot were proposed in literature to improve the load capacity but the improved load capacity is direction-dependent. To improve the load capacity in both forward and backward directions, this paper proposes an approach via a shared driving foot. The basic idea is to employ two piezoelectric actuators and a shared driving foot to work in a way that either forward or backward driving is a stick-slip process and both involve a clamping action during the 'stick' phase and a releasing action during the 'slip' phase, so that a large driving force/load capacity can be achieved in both driving directions. Following this approach, a shared driving foot was proposed and designed. Finite element simulations were carried out and have validated that the designed driving foot can realize the proposed approach as desired. A prototype was built and tested and the effectiveness of the proposed approach has been validated by experiments. Under the sawtooth waveform voltage of 100 V at 1 kHz, the prototype achieved a free-load forward and backward driving speed as large as 18.6 mm s−1 and 16 mm s−1 respectively and a load capacity larger than 2 kg for both driving directions. Under a driving load of 2 kg, it can still move stably with forward and backward driving speeds of 1.8 mm s−1 and 0.6 mm s−1 respectively.
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