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Design and performances of a one-degree-of-freedom guided nano-actuator

par Lambert, Pierre ;Valentini, Antonio;Lagrange, Benoît ;De Lit, Pierre ;Delchambre, Alain
Référence Robotics and computer-integrated manufacturing, 19, page (89-98)
Publication Publié, 2003

Article révisé par les pairs

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Résumé :

The aim of the research presented in this paper was to propose a simple and cheap system, able to produce a macroscopic (centimetric) travel with a very high (nano-metric) resolution. The solution principle described yields a theoretically infinite travel range based on the accumulation of successive steps. The travel range of the prototype realised is equal to 2 cm, the size of the steps being about 20 nm. The actuation is based on the stick-slip effect: during the first stage of a step, the legs of the actuator slowly translate the carried structure; in the second stage the legs are moved back in their initial position very quickly, so that, thanks to their inertia, the structure stays at the same place. Each leg of the system, glued on a main frame, consists in a piezoelectric device working in shear mode, ended by a ruby hemisphere. The structure itself is in steel to get a sufficiently high inertia. An originality of the proposed translator is that the guiding elements of the structure (guiding grooves) are also used to transmit the motion. The friction force between the legs and the grooves can be tuned thanks to a magnet placed in the main frame, allowing to adjust the normal load on the legs. The paper presents the different functional elements of the translator and its electronic command system, and explains its functioning. The influence of several parameters (supported load, friction, resistive axial load) on the step size and thus on both the resolution, hence the speed of the system is then studied. Finally, the power losses are identified and estimated. © 2003 Elsevier Science Ltd. All rights reserved.