A Dual-Driven High Precision Rotary Platform Based on Stick-Slip Principle

Aiming at the realization of high precision angle adjusting, this article proposed a rotary platform based on stick-slip principle, which adopted a dual-driven working mode to realize large circular motion stroke and high loading capacity. Based on flexure hinges, a symmetrical flexible mechanism wi...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2022-10, Vol.27 (5), p.3053-3064
Main Authors: Huo, Zhichen, Tian, Yanling, Wang, Fujun, Zhang, Wei, Shi, Beichao, Zhang, Dawei
Format: Article
Language:English
Subjects:
Actuators
Couplings
Design optimization
Dynamic modeling
Dynamic models
Fasteners
Finite element method
Flexing
flexure hinge mechanism
Force
Friction
Loading
Principles
rotary platform
Slip
stick-slip actuator
Voltage
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Summary:Aiming at the realization of high precision angle adjusting, this article proposed a rotary platform based on stick-slip principle, which adopted a dual-driven working mode to realize large circular motion stroke and high loading capacity. Based on flexure hinges, a symmetrical flexible mechanism with two driving feet was designed to generate coupled driving displacement. By actuating the piezoelectrics alternatively, the proposed dual-driven working principle was described in detail, which could effectively suppress the back-off phenomenon and improve loading capacity. The theoretical analysis and finite element simulation were conducted to investigate the characteristic of flexible driving unit. The dynamic model of dual-driven working mode was established and simulated in MATLAB/Simulink, and the influence of preloading coefficient and initial preloading force were investigated, which provided a guidance for the design and optimization of stick-slip actuator. Additionally, a prototype was fabricated, and a series of experiments were conducted. The results indicated that the maximum rotary speed and loading capacity of rotary platform were 48.3 mrad/s and 98.8 mN·m, respectively.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2021.3125825