A stick-slip/inchworm hybrid rotary piezo motor based on a symmetric triangular driving mechanism

Abstract

A stick-slip/inchworm hybrid rotary piezomotor based on a symmetric triangular driving mechanism, which can simultaneously achieve the benefits of both stick-slip and inchworm motors, was reported in this letter. It is based on the principle of stick-slip motors, and, inspired by the clamping-releasing actions from inchworm motors, it employs a symmetric triangular driving mechanism to generate a clamping action during the stick phase and a releasing action during the slip phase. Compared with stick-slip motors, it involves a clamping action during the stick phase and a releasing action during the slip phase, thus resulting in a larger driving force. Compared with inchworm motors, which require active control and coordination of clamping/releasing modules with feeding modules, it involves the control and operation of only one feeding piezoactuator without any actively controlled clamping/releasing module. Therefore, the control is easier, and a much larger operation frequency and driving speed can be achieved. Under the sawtooth waveform voltage of 90 V at 2600 Hz with a self-holding torque of 4 N m, the prototype achieved a no-load speed higher than 0.6 rad/s, a load torque capacity larger than 1.8 N m, and a weight carrying capacity more than 100 kg for both clockwise and anticlockwise directions. Compared with load torque capacity and weight carrying capacity in the reported stick-slip and inchworm rotary piezomotors, the current levels in terms of the same driving speed have been improved over 60 times and 12 times, respectively, in the proposed hybrid motor.

A Piezoelectric Linear Actuator Controlled by the Reversed-Phase Connection of Two Bimorphs

“…Both bimorphs bend to the opposite position. According to previous studies [27], [29], the force pointing to the long-clamping direction is greater than that to the short-clamping direction. Then F1 is greater than F2.…”

Modeling of Motion Characteristics and Performance Analysis of an Ultra-Precision Piezoelectric Inchworm Motor

“…As for PIM research in recent years, a four-foot rotary piezoelectric motor without a clamping mechanism was developed in Liu’s study [ 13 ], its transient simulation work took into account friction between the rotor and driving foot, but the key deformation mode of the PM and the abovementioned coupling problem were not reflected in the simulation. For the flexure mechanism + drive mechanism-type PIM research, such as Ma et al’s [ 12 ], Zhang et al [ 14 ] conducted stress and frequency analyses of the driving mechanism presented in a steady state simulation. To sum up the simulations in the above studies, the strain modes of the PM were not involved, the motion gesture of the PIM must be achieved by the correct strain mode of the PM.…”

“…In addition, the mechanical coupling between the PM and flexure mechanism or motor shaft was rarely reflected. Finally, the travel performance of the PIM was obtained by actual measurement or indirect formula calculation; it was not capable of being obtained directly from the simulation model [ 12 , 13 , 14 ]. However, for the motor design, the relationship between the specifications of the PM (i.e., type and size) and precision motor performance (i.e., driving force and travel) is what professional developers want to know most.…”

Waveform optimization of a two-axis smooth impact drive mechanism actuator

“…High resolution, long motion range, compact size, and high velocity are key performances required in such systems. In this regard, piezoelectric elements (PZTs) offer outstanding potentials due to their excellent performances, such as high positioning accuracy, small size, and high response (Peng et al, 2013(Peng et al, , 2015aShimizu et al, 2013;Zhang et al, 2018Zhang et al, , 2019aZhang et al, , 2019b.…”

“…However, it is hard for a complaint mechanism to achieve a millimeter-level motion range. In addition, it may also increase the size of the positioning system (Zhang et al, 2019a(Zhang et al, , 2019b. To position a long motion range of several millimeters while retaining nanometer-level resolution, smooth impact drive mechanisms (SIDMs) are typically used in various positioning systems (Okamoto and Yoshida, 1998;Peng et al, 2013Peng et al, , 2015aShimizu et al, 2013;Zhang et al, 2018Zhang et al, , 2019a.…”