Abstract
A novel semi-active joint for connecting mechanical (i.e., sliding/rolling) bearings or guideways to an ultra-precision motion stage is presented. The semi-active joint enables the benefits of bearing/guideway friction on in-position stability while avoiding its adverse effects on rapid ultra-precision positioning. The joint is equipped with solenoids that switch its stiffness from low, during settling, to high once the stage gets into position. A two-step scheme is implemented to mitigate adverse effects of switching on positioning performance. Experiments demonstrate up to 81% and 60% improvements in settling time and in-position stability, respectively, compared to cases with solely low- or high-stiffness joints.
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