Abstract
This paper deals with the mobility of AZARASHI (Seal) Mechanism in vacuum. A device of AZARASHI Mechanism with one degree of freedom moves by using the controlled Friction device and one to generate a constant friction. Electromagnets, springs and clamps with piezoelectric actuators have been used for the controlled Friction device. In this paper, the friction was controlled by the perpendicular inertial force using a piezoelectric actuator applied a modified trapezoidal wave. The inertial force on Friction devices restricted the driving frequency of Extension device. In the case of using stainless steel for the device and aluminum for the base, the device stably moves without adhesion.
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