CN115085581B - Stick-slip driver and method for actively inhibiting rollback movement - Google Patents
Stick-slip driver and method for actively inhibiting rollback movement Download PDFInfo
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- 230000001629 suppression Effects 0.000 claims abstract description 37
- 230000003321 amplification Effects 0.000 claims description 33
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/14—Drive circuits; Control arrangements or methods
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
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Abstract
The invention relates to the technical field of micro-nano precision manufacturing and control, in particular to a stick-slip driver and a method for actively inhibiting rollback movement, wherein the stick-slip driver comprises a moving body and a driving body, and the driving body comprises: a friction head composed of a triangle amplifying mechanism; the driving module is driven by piezoelectric ceramics, the output end of the driving module is connected with one input end of the triangular amplifying mechanism, and the driving module can generate transverse displacement for driving the output end of the triangular amplifying mechanism to transversely move; the backspacing suppression module is driven by piezoelectric ceramics and comprises a first lever amplifying mechanism capable of generating longitudinal displacement, the output end of the first lever amplifying mechanism is connected with the input end of the triangular amplifier, and the backspacing suppression module enables the friction head to separate or compress the moving body; the invention is provided with the driving module and the backspacing suppression module, adopts a mode of double piezoelectric ceramics cooperative driving, realizes decoupling of driving and active suppression of backspacing motion, and effectively suppresses backspacing motion while ensuring driving capability.
Description
Technical Field
The invention relates to the technical field of micro-nano precision manufacturing and control, in particular to a stick-slip driver and a method for actively inhibiting rollback movement.
Background
Precision positioning and driving technology is a key technology in equipment manufacturing industry, and is widely applied to various fields such as precision manufacturing, micro-nano technology, biomedical treatment and measurement. The piezoelectric material has the advantages of high bandwidth, high response speed, high resolution, small volume, electromagnetic interference resistance and the like, and becomes a main driving component in the field of precise driving. Stick-slip actuators employing piezoelectric materials are widely used in the design of linear and rotary piezoelectric actuators due to their simple structure and control.
Based on the stick-slip principle, the driving process of the stick-slip driver mainly comprises two periods of 'sticking' and 'sliding'. In the output displacement of a piezoelectric stick-slip actuator, there is a prevalent rollback motion, i.e., the "slip" period of the piezoelectric stick-slip actuator. I.e. the output displacement reaches a maximum first and then a certain distance of backward movement is generated. The generation of the reverse motion affects the output performance of the stick-slip piezoelectric actuator from three aspects: (1) reducing driving efficiency; (2) increasing the subsequent control difficulty; (3) Wear and heat are generated during the repeated forward and reverse relative movement.
Disclosure of Invention
The invention aims to provide a stick-slip driver and a method for actively inhibiting rollback movement, which are used for solving the problem that the rollback movement exists in the output displacement of a piezoelectric stick-slip driver in the prior art. In order to achieve the above object, the present invention solves the following problems by the following technical scheme:
In a first aspect, the present invention provides a stick-slip driver for actively suppressing a rollback motion, including a moving body and a driving body thereof, the driving body including:
A friction head composed of a triangle amplifying mechanism;
The driving module is driven by piezoelectric ceramics, the output end of the driving module is connected with one input end of the triangular amplifying mechanism, and the driving module can generate transverse displacement for driving the output end of the triangular amplifying mechanism to transversely move;
The backspacing suppression module is driven by piezoelectric ceramics and comprises a first lever amplification mechanism capable of generating longitudinal displacement, the output end of the first lever amplification mechanism is connected with the input end of the triangular amplifier, and the backspacing suppression module enables the friction head to separate or compress the moving body.
As a further technical scheme, the driving module comprises a bridge type amplifying mechanism and a second lever amplifying mechanism connected with the output end of the bridge type amplifying mechanism.
As a further technical solution, the input end of the triangle amplifying mechanism connected with the driving module is higher than the input end of the triangle amplifying mechanism connected with the backspacing suppressing module.
As a further technical scheme, the device further comprises an adjusting plate, wherein the driving body is provided with a straight beam type flexible hinge, and the driving body is far away from or near to the moving body by adjusting an adjusting bolt arranged on the adjusting plate.
As a further technical scheme, the adjusting plate further comprises a positioning platform, wherein the positioning platform is provided with a positioning surface and is matched with the driving body.
As a further technical scheme, the device further comprises a fixed bottom plate, wherein the adjusting plate and the moving body are both arranged on the fixed bottom plate.
As a further technical scheme, the rollback suppression module further comprises a straight beam type flexible hinge and a guide block which is matched and connected with the straight beam type flexible hinge, and piezoelectric ceramics of the rollback suppression module drives the first lever amplifying mechanism through driving the guide block.
As a further technical solution, the moving body is a cross roller guide, and the friction head acts on the side surface of the cross roller guide.
As a further technical solution, each of the piezoelectric ceramics is respectively provided with an adjusting bolt for pretension.
In a second aspect, the present invention provides a driving method of a stick-slip driver according to the first aspect, comprising:
Before the driving module acts, the backspacing suppression module is electrified to act and generate longitudinal displacement, so that the output end of the triangular amplifying mechanism is close to the moving body and is pressed;
The driving module is electrified to start to act, and the output end of the driving module generates transverse displacement, so that the output end of the triangular amplifying mechanism generates transverse movement and drives the moving body to generate transverse displacement;
The backspacing suppression module is powered off, so that the output end of the triangular amplification mechanism moves away from the moving body, and at the moment, the driving module drives the triangular amplification mechanism to generate reverse transverse output displacement, and the moving body does not generate backspacing motion.
The beneficial effects of the invention are as follows:
(1) The invention is provided with the driving module and the backspacing suppression module, adopts a mode of collaborative driving by the double piezoelectric ceramics, and the driving module and the backspacing suppression module are independently designed, and before the driving module reversely outputs, the friction head is separated from the moving body by the backspacing suppression module, so that the decoupling of driving and backspacing motion active suppression is realized, and the backspacing motion is effectively suppressed while the driving capability is ensured.
(2) A straight beam type flexible hinge is arranged between two sides of a driving body and an adjusting plate, and the driving body is far away from or near to a moving body by adjusting an adjusting bolt arranged on the adjusting plate. By rotating the third adjusting bolt, the connecting plate is pushed to generate longitudinal micro-displacement, so that the longitudinal position of the driving body is finely adjusted.
(3) The input end of the triangular amplifying mechanism connected with the driving module is higher than the input end of the triangular amplifying mechanism connected with the rollback suppressing module, namely the input end at the left side of the triangular amplifying mechanism is higher than the input end at the right side of the triangular amplifying mechanism. In the case where the right input end of the triangular amplification mechanism is lower than the left input end, when the right side is raised (the right side is energized with the piezoelectric ceramics suppressed), the triangular amplification mechanism tip can be displaced longitudinally so as to approach the guide rail, and when the right side is lowered (the right side is deenergized with the piezoelectric ceramics suppressed), the triangular amplification mechanism tip is rapidly separated from the guide rail.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. It should also be understood that the drawings are for simplicity and clarity and have not necessarily been drawn to scale. The invention will now be described and explained with additional specificity and detail through the use of the accompanying drawings in which:
FIG. 1 is a schematic diagram of a stick-slip drive according to an embodiment of the present invention;
FIG. 2 is a schematic top view of a driving body structure according to an embodiment of the present invention;
FIG. 3 is a schematic front view of a driving body structure according to an embodiment of the present invention;
FIG. 4 shows a schematic diagram of an adjusting plate structure in an embodiment of the invention;
FIG. 5 is a schematic view showing the structure of a fixing base plate in the embodiment of the invention;
FIG. 6 shows a schematic view of a cross roller guide rail in an embodiment of the invention;
FIG. 7 illustrates a schematic bottom view of a cross roller guide in an embodiment of the invention;
FIG. 8 illustrates a friction head active damping motion schematic in an embodiment of the invention;
FIG. 9 illustrates a stick-slip driver output displacement curve schematic diagram of a rollback-free motion active damping module;
FIG. 10 illustrates a stick-slip drive output displacement curve schematic with a rollback motion active damping module;
FIG. 11 is a schematic diagram of the driving voltage of the piezoelectric ceramics according to the embodiment of the invention.
In the figure:
1. a driving body; 101. a bridge type amplifying mechanism; 102. a second lever amplifying mechanism; 103. a friction head; 104. a first lever amplification mechanism; 105. a guide block; 106. a first straight beam type flexible hinge; 107. a first countersunk threaded hole; 108. a first positioning surface; 109. a first adjusting bolt; 110. a second adjusting bolt;
2. An adjusting plate; 201. a second straight beam type flexible hinge; 202. a third adjusting bolt; 203. a first threaded hole; 204. a first positioning boss; 205. a second countersunk threaded hole; 206. a connecting plate;
3. A fixed bottom plate; 301. a second positioning boss; 302. a second threaded hole; 303. a third threaded hole; 304. a second positioning surface;
4. a cross roller guide; 401. moving the top plate; 402. a base; 403. a cross roller unit; 404. a third countersunk threaded hole;
5. driving the piezoelectric ceramic; 6. the piezoelectric ceramics are suppressed.
Detailed Description
The technical solutions in the exemplary embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Example 1
As shown in fig. 1 to 7, the present embodiment provides a stick-slip driver for actively suppressing a rollback motion, including a moving body and a driving body 1 thereof, the driving body 1 including:
A friction head 103 composed of a triangle amplifying mechanism;
The driving module is driven by piezoelectric ceramics, the output end of the driving module is connected with one input end of the triangular amplifying mechanism, and the driving module can generate transverse displacement for driving the output end of the triangular amplifying mechanism to transversely move (wherein, the transverse direction is parallel to the moving direction of the moving body, and the longitudinal direction is perpendicular to the moving direction of the moving body); in this embodiment, the piezoelectric ceramic of the driving module is driving piezoelectric ceramic 5;
The backspacing suppression module is driven by piezoelectric ceramics and comprises a first lever amplification mechanism 104 capable of generating longitudinal displacement, the output end of the first lever amplification mechanism is connected with the input end of the triangular amplifier, and the backspacing suppression module enables the friction head 103 to separate or compress a moving body; in the present embodiment, the piezoelectric ceramic of the rollback suppression module is the suppression piezoelectric ceramic 6.
The specific structure of the triangular amplifying structure is shown in English literature "A Novel Stick–Slip Piezoelectric Actuator Based on a Triangular Compliant Driving Mechanism"(IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,VOL.66,NO.7,JULY 2019).
In this embodiment, the top of the triangle amplifying mechanism is an output end, and both bottom corners are input ends. The rollback motion described in this embodiment occurs between the triangle amplifying mechanism and the moving body, if there is no rollback suppression module, the driving module is powered on, the output end of the triangle amplifying mechanism outputs the lateral displacement to drive the moving body to move, and the power off reversely outputs the lateral displacement, at this time, the moving body is driven to reversely generate a section of displacement, so that rollback is caused.
In this embodiment, the lever amplifying mechanism may be configured in the prior art, and the specific structure thereof will not be described in detail herein.
The driving module and the backspacing suppression module are arranged, the driving module and the backspacing suppression module are independently designed in a mode of cooperative driving of the double piezoelectric ceramics, and before the driving module reversely outputs, the friction head is separated from the moving body through the backspacing suppression module, so that decoupling of driving and active suppression of backspacing motion is realized, and the backspacing motion is effectively suppressed while the driving capability is ensured.
The friction head 103 adopts a triangle amplifying mechanism which can generate parasitic motion and has the function of reducing normal contact force in the return motion process.
As shown in fig. 2, the driving body 1 is provided with a driving module and a backspacing suppression module, in this embodiment, the driving module is disposed on the left side, the backspacing suppression module is disposed on the right side, and driving outputs of the driving module and the backspacing suppression module are respectively connected to an input of the triangular amplifying mechanism.
The driving module comprises a bridge amplification mechanism 101 and a second lever amplification mechanism 102 connected with the output end of the bridge amplification mechanism. The bridge type amplifying mechanism 101 can adopt a bridge type amplifying mechanism in a bridge type flexible micro-positioning platform design, optimization and test research of the university of Shandong, and the specific working principle is referred to pages 17-18 of the paper.
The driving piezoelectric ceramic 5 is arranged in the bridge type amplifying mechanism 101 to provide driving force, when the driving piezoelectric ceramic 5 is electrified, the driving piezoelectric ceramic 5 stretches to push the bridge type amplifying mechanism 101 to generate longitudinal deformation, and the output end (middle part) of the bridge type amplifying mechanism 101 generates transverse displacement.
The lateral displacement generated at the output end of the bridge amplification mechanism 101 acts on the input end of the second lever amplification mechanism 102, and the lateral displacement is generated at the output end of the second lever amplification mechanism 102.
The lateral displacement generated by the output end of the second lever amplification mechanism 102 acts on the left end (input end on the left side of the triangular amplification mechanism) of the friction head 103, so that the left end of the friction head 103 is pushed to generate lateral movement, and the top end of the friction head 103 generates longitudinal movement simultaneously with the lateral movement.
In this embodiment, the moving body is a cross roller guide 4. The friction head 103 acts on the side of the cross roller guide 4. The cross roller guide 4 adopts a structure in the prior art, including a base 402, a movable top plate 401, a cross roller unit 403, etc., and the specific working principle and structure thereof will not be described in detail herein.
The longitudinal movement of the top end of the friction head 103 will press against the moving top plate 401 of the cross roller guide 4 and the lateral movement of the top end of the friction head 103 will push the moving top plate 401 to produce a lateral output displacement.
The retraction suppression module of the driving body 1 is composed of a first lever amplification mechanism 104, a guide block 105 and a straight beam type flexible hinge 106, and suppresses the piezoelectric ceramics 6 as a power source. The first straight beam type flexible hinge 106 is connected with the guide block 105 in a matched mode, and the piezoelectric ceramics 6 of the retraction suppression module drives the first lever amplifying mechanism 104 through driving the guide block 105.
The two sides of the guide block 105 are provided with first straight beam type flexible hinges 106, the input end of the guide block 105 is connected with the piezoelectric ceramics 6, the output end of the guide block 105 is connected with the input end of the first lever amplifying mechanism 104, and the output end of the first lever amplifying mechanism 104 is connected with the right end (input end on the right side of the triangular amplifying mechanism) of the friction head 103.
The extension of the piezoelectric ceramic 6 when energized is suppressed, the first beam-shaped flexible hinge 106 is deformed, and the guide block 105 is longitudinally displaced.
The longitudinal displacement generated by the guide block 105 acts on the input end of the first lever amplification mechanism 104, the output end of the first lever amplification mechanism 104 generates longitudinal displacement and acts on the right end of the movable friction head 103, and the right end of the friction head 103 generates longitudinal displacement.
It will be appreciated that when the piezoelectric ceramic 6 is inhibited from being energized, the right end of the friction head 103 will be caused to displace longitudinally adjacent the cross roller guide 4. Similarly, when the piezoelectric ceramic 6 is inhibited from being de-energized, the right end of the friction head 103 will be caused to displace longitudinally away from the cross roller guide 4.
As shown in fig. 8, the broken line represents the state of the friction head 103 when the piezoelectric ceramic 6 is suppressed from being powered off, and the solid line represents the state of the friction head 103 when the piezoelectric ceramic 6 is suppressed from being powered on. When the piezoelectric ceramic 6 is suppressed from being energized, the tip of the friction head 103 is caused to displace longitudinally by Δy 2 toward the cross roller guide 4.
Before the driving piezoelectric ceramics 5 are energized, the piezoelectric ceramics 6 are suppressed from being energized to cause the tip of the friction head 103 to be displaced longitudinally close to the cross roller guide 4 and to generate pressing force. Before the driving piezoelectric ceramic 5 is deenergized, suppressing the deenergization of the piezoelectric ceramic 6 causes the tip of the friction head 103 to be displaced longitudinally away from the cross roller guide 4 and separated.
The input voltage signal for driving the piezoelectric ceramic 5 is shown by a broken line in fig. 11, and the input voltage for suppressing the piezoelectric ceramic 6 is shown by a solid line in fig. 11.
The output displacement curve of the piezoelectric stick-slip driver without the rollback inhibition module is shown in fig. 9, the abscissa t is time, and the ordinate s is output displacement; where L f represents the forward displacement and L b represents the forward retraction displacement. The output displacement curve of the piezoelectric stick-slip driver with the rollback suppression module is shown in fig. 10, the abscissa t is time, and the ordinate s is output displacement, where L f represents forward displacement.
The input end of the triangular amplifying mechanism connected with the driving module is higher than the input end of the triangular amplifying mechanism connected with the rollback suppressing module, namely the input end at the left side of the triangular amplifying mechanism is higher than the input end at the right side of the triangular amplifying mechanism.
In the case where the right input end of the triangular amplification mechanism is lower than the left input end, when the right side is raised (the right side is energized with the piezoelectric ceramics suppressed), the triangular amplification mechanism tip can be displaced longitudinally so as to approach the guide rail, and when the right side is lowered (the right side is deenergized with the piezoelectric ceramics suppressed), the triangular amplification mechanism tip is rapidly separated from the guide rail. Although the same height on both sides can be realized, the effect is not obvious as that of the embodiment.
Each piezoelectric ceramic is respectively provided with an adjusting bolt for pretension. As shown in fig. 3, the driving piezoelectric ceramic 5 is provided with a first adjusting bolt 109, the suppressing piezoelectric ceramic is provided with a second adjusting bolt 110, and the piezoelectric ceramic can be preloaded by the adjusting bolt.
The adjusting plate 2 further comprises a positioning platform, wherein the positioning platform is provided with a positioning surface and is matched with the driving body 1. As shown in fig. 3 and fig. 4, the bottom of the driving body 1 has a first positioning surface 108, and the driving body 1 is positioned by matching with the connecting plate 206 during assembly. The first positioning surface 108 and the connecting plate 206 in this embodiment are matched by a boss and a groove to realize positioning. The connection of the driving body 1 and the adjusting plate 2 is realized by bolting the first countersunk threaded hole 107 of the driving body 1 and the first threaded hole 203 of the adjusting plate 2.
The driving body 1 is provided with second straight beam type flexible hinges 201, and in this embodiment, the second straight beam type flexible hinges 201 are provided on both sides of the connection plate 206 to move the driving body 1 away from or close to the moving body by adjusting third adjustment bolts 202 provided on the adjustment plate 2. By rotating the third adjusting bolt 202, the connecting plate 206 is pushed to generate longitudinal micro-displacement, so that fine adjustment of the longitudinal position of the driving body 1 is realized.
As shown in fig. 5, the device further comprises a fixed bottom plate 3, and the adjusting plate 2 and the moving body are both arranged on the fixed bottom plate 3.
As shown in fig. 4 and 5, the bottom of the adjusting plate 2 is provided with a first positioning boss 204, and the adjusting plate 2 is positioned by matching with a second positioning surface 304 during assembly. The second countersunk threaded hole 205 of the adjusting plate 2 is connected with the third threaded hole 303 of the fixed bottom plate 3 through bolts, so that the fixed bottom plate 3 is connected with the adjusting plate 2.
As shown in fig. 5, 6 and 7, the fixing base plate 3 has a second positioning boss 301, so that positioning of the base 402 can be achieved. The connection of the fixed base plate 3 to the base 402 is achieved by bolting the second threaded hole 302 of the fixed base plate 3 to the third countersunk threaded hole 404 of the cross roller guide 4.
Example 2
The present embodiment provides a driving method of a stick-slip driver according to embodiment 1, including the following:
Before the driving module acts, the backspacing suppression module is electrified to act and generate longitudinal displacement, so that the output end of the triangular amplifying mechanism is close to the moving body and is pressed;
The driving module is electrified to start to act, and the output end of the driving module generates transverse displacement, so that the output end of the triangular amplifying mechanism generates transverse movement and drives the moving body to generate transverse displacement;
The backspacing suppression module is powered off, so that the output end of the triangular amplification mechanism moves away from the moving body, and at the moment, the driving module drives the triangular amplification mechanism to generate reverse transverse output displacement, and the moving body does not generate backspacing motion.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (10)
1. The stick-slip driver is characterized by comprising a moving body and a driving body thereof, wherein the driving body comprises:
A friction head composed of a triangle amplifying mechanism;
The driving module is driven by piezoelectric ceramics, the output end of the driving module is connected with one input end of the triangular amplifying mechanism, and the driving module can generate transverse displacement for driving the output end of the triangular amplifying mechanism to transversely move;
The backspacing suppression module is driven by piezoelectric ceramics and comprises a first lever amplification mechanism capable of generating longitudinal displacement, the output end of the first lever amplification mechanism is connected with the input end of the triangular amplifier, and the backspacing suppression module enables the friction head to separate or compress the moving body.
2. A stick-slip drive for actively suppressing a rollback motion as defined in claim 1 wherein said drive module comprises a bridge amplification mechanism and a second lever amplification mechanism coupled to an output thereof.
3. A stick-slip drive for actively suppressing a rollback motion as claimed in claim 1 wherein the input of said delta-amplifying mechanism connected to said drive module is higher than the input of said delta-amplifying mechanism connected to said rollback suppressing module.
4. A stick-slip drive for actively suppressing a rollback motion as recited in claim 1 further comprising an adjustment plate, said drive body being configured with a straight beam type flexible hinge, said drive body being moved away from or toward said moving body by adjusting an adjustment bolt provided on said adjustment plate.
5. A stick-slip drive for actively suppressing a rollback motion as recited in claim 4 wherein said adjustment plate further comprises a positioning platform having a positioning surface for engaging said drive body.
6. A stick-slip drive for actively suppressing a rollback motion as recited in claim 4 further comprising a fixed base plate, said adjustment plate and said moving body each being mounted to said fixed base plate.
7. The stick-slip driver for actively suppressing a rollback motion of claim 1 wherein said rollback suppression module further comprises a straight beam type flexible hinge and a guide block cooperatively connected therewith, said piezoelectric ceramic of said rollback suppression module driving said first lever amplification mechanism through a drive guide block.
8. A stick-slip drive for actively damping a rollback motion as set forth in claim 1 wherein said moving body is a cross roller guide and said friction head is acting on the side of said cross roller guide.
9. A stick-slip drive for actively suppressing a rollback motion as defined in claim 1 wherein each of said piezoelectric ceramics is individually configured with an adjusting bolt for pretensioning.
10. A driving method of a stick-slip drive according to any one of claims 1-9, comprising the following:
Before the driving module acts, the backspacing suppression module is electrified to act and generate longitudinal displacement, so that the output end of the triangular amplifying mechanism is close to the moving body and is pressed;
The driving module is electrified to start to act, and the output end of the driving module generates transverse displacement, so that the output end of the triangular amplifying mechanism generates transverse movement and drives the moving body to generate transverse displacement;
The backspacing suppression module is powered off, so that the output end of the triangular amplification mechanism moves away from the moving body, and at the moment, the driving module drives the triangular amplification mechanism to generate reverse transverse output displacement, and the moving body does not generate backspacing motion.
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| CN107834896A (en) * | 2017-12-25 | 2018-03-23 | 吉林大学 | Pre- frictional force regulates and controls the apparatus and method of parasitic principle piezoelectric actuator output performance |
| CN108696179A (en) * | 2018-05-21 | 2018-10-23 | 吉林大学 | Additional mechanical supercharging type piezoelectricity stick-slip linear motor and its motivational techniques |
| CN109818527A (en) * | 2019-04-02 | 2019-05-28 | 吉林大学 | Isosceles trapezoid stick-slip piezoelectric linear actuator |
| CN110855179A (en) * | 2019-04-08 | 2020-02-28 | 浙江师范大学 | Crawling type piezoelectric precision driving device based on asymmetric triangular flexible hinge mechanism |
| CN109921680A (en) * | 2019-04-25 | 2019-06-21 | 宁波大学 | A kind of stick-slip inertia linear actuator becoming pretightning force |
| CN110752769A (en) * | 2019-11-13 | 2020-02-04 | 西安交通大学 | Bidirectional inertia type piezoelectric actuator driven by symmetrical sawtooth waves and actuating method |
| CN111030505A (en) * | 2020-02-20 | 2020-04-17 | 吉林大学 | Secondary displacement amplification type piezoelectric driver |
| CN111614284A (en) * | 2020-06-19 | 2020-09-01 | 吉林大学 | Force control device and method for inhibiting rollback motion of stick-slip piezoelectric actuator |
| CN112271953A (en) * | 2020-10-30 | 2021-01-26 | 浙江工业职业技术学院 | Inchworm stick-slip hybrid drive type piezoelectric linear driver and installation process |
| CN112865593A (en) * | 2021-01-08 | 2021-05-28 | 吉林大学 | Bionic impact piezoelectric driver with high output performance and control method thereof |
| CN113258825A (en) * | 2021-05-31 | 2021-08-13 | 吉林大学 | Piezoelectric driver based on stick-slip and impact principle coupling and control method thereof |
| CN113922701A (en) * | 2021-11-15 | 2022-01-11 | 宁波大学 | Four-rod stick-slip motor with force amplification characteristic and driving method |
| CN114759828A (en) * | 2022-03-25 | 2022-07-15 | 广州大学 | Translational and rotational two-degree-of-freedom piezoelectric actuation platform |
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