A novel 3-DOF planar parallel stick-slip platform using macro fiber composite

This paper proposes a three-degree-of-freedom (3-DOF) high-precision stick-slip platform with planar parallel decoupling and backward inhibition. An arch driving unit using macro fiber composite (MFC) is proposed to realize large single-step output and actuation-structure integration, and pillar support is devised to improve load capacity. A cooperative driving method is designed to suppress backward movement. Then, a system dynamics model with electromechanical, friction, and the 3-DOF connection is established. Finally, a prototype is manufactured, and various experiments are conducted. The proposed stick-slip platform exhibits large single-step displacements of 301.6 μm, 292.9 μm, and 9.947 mrad for the X-axis, Y-axis, and rotation around the Z-axis motion, respectively. The maximum vertical load is 110 N. Also, the backward rate is reduced from 62.9 % to 0.56 % for translational movement in the X and Y axes and from 46.8 % to 2.79 % for the Z-axis rotation. Thus, experiments verify the proposed stick-slip platform with macro fiber composite.