{"title":"Performance improvements for stick-slip positioners","authors":"A. Bergander, J. Breguet","doi":"10.1109/MHS.2003.1249910","DOIUrl":null,"url":null,"abstract":"Stick-slip actuators are frequently used systems for micro- and nano positioning because of their high dynamics and simple design. Driving at high velocities however is restricted, as either the actuators are very stiff and have a short stroke, or they have a large deformation but low natural frequencies. Beyond a certain frequency, which is determined by the actuators' natural frequency, the masses to be moved, and the damping ratios, the system cannot be driven in a controlled manner any more, as the velocity no longer increases linearly with the driving frequency and presents a \"chaotic\" behavior. This behavior is a result of a vibration after one step not being completely damped out before the next step occurs. In this paper, we propose a method to actuate stick-slip actuators with low natural frequencies at comparatively high driving frequencies, which permits to increase the velocity compared to the velocity obtained with a simple saw tooth signal of the same frequency. The driving signal for the actuators is convolved with a pulse sequence that cancels occurring vibration, a method that is commonly called \"input shaping\". Particular aspects of signal shaping for stick-slip drives will be discussed, simulation as well as measured experimental results are given.","PeriodicalId":358698,"journal":{"name":"MHS2003. Proceedings of 2003 International Symposium on Micromechatronics and Human Science (IEEE Cat. No.03TH8717)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2003-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"29","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"MHS2003. Proceedings of 2003 International Symposium on Micromechatronics and Human Science (IEEE Cat. No.03TH8717)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MHS.2003.1249910","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 29
Abstract
Stick-slip actuators are frequently used systems for micro- and nano positioning because of their high dynamics and simple design. Driving at high velocities however is restricted, as either the actuators are very stiff and have a short stroke, or they have a large deformation but low natural frequencies. Beyond a certain frequency, which is determined by the actuators' natural frequency, the masses to be moved, and the damping ratios, the system cannot be driven in a controlled manner any more, as the velocity no longer increases linearly with the driving frequency and presents a "chaotic" behavior. This behavior is a result of a vibration after one step not being completely damped out before the next step occurs. In this paper, we propose a method to actuate stick-slip actuators with low natural frequencies at comparatively high driving frequencies, which permits to increase the velocity compared to the velocity obtained with a simple saw tooth signal of the same frequency. The driving signal for the actuators is convolved with a pulse sequence that cancels occurring vibration, a method that is commonly called "input shaping". Particular aspects of signal shaping for stick-slip drives will be discussed, simulation as well as measured experimental results are given.