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

Abstract

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.