Stick-slip and slip-slip operation of piezoelectric inertia drives—Part II: Frequency-limited excitation

Abstract This contribution provides a systematic investigation and performance comparison of different modes of operation for piezoelectric inertia drives. The movement of these motors is classically assumed to consist of steps involving stiction and sliding, resulting in the term “stick-slip drives”. In the first part of this contribution it has been found that using ideal driving signals, “slip-slip” operation without phases of stiction allows very high velocities, while the maximum velocity is limited principally in stick-slip operation. In this part it is shown that slip-slip operation is also suitable for use with real actuators, driven with frequency-limited versions of the ideal signals presented in part I. The motional performance of the motor as well as its wear and the required electric power are investigated for operation with different signals. It is found that for high velocity inertia motors it is recommendable to use actuators with large stroke and to drive them with a signal consisting of two harmonics at a high fundamental frequency, a result that is supported by similar setups implemented experimentally by other authors. Using Lanczos’ σ factors to calculate the frequency-limited excitation signals instead of standard Fourier series additionally increases the motor performance significantly. The results help motor designers to choose the appropriate mode of operation and to optimise the motor parameters for their individual applications.

[1]  Zhenbang Gong,et al.  Study on robots with PZT actuator for small pipe , 2001, MHS2001. Proceedings of 2001 International Symposium on Micromechatronics and Human Science (Cat. No.01TH8583).

[2]  Richard W. Hamming,et al.  Numerical methods for scientists and engineers (2nd ed.) , 1986 .

[3]  R. Bansevicius,et al.  Multi-degree-of-freedom ultrasonic motors for mass-consumer devices , 2008 .

[4]  Eberhard Hennig,et al.  RELIABILITY OF PIEZOELECTRIC MULTILAYER ACTUA- TORS , 2006 .

[5]  S. Ueha,et al.  An estimation of load characteristics of an ultrasonic motor by measuring transient responses , 1991, IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control.

[6]  Christoph Edeler.  Measurements and Potential Applications of Force-Control Method for Stick-Slip-Driven Nanohandling Robots , 2011 .

[7]  Hiroshi Hosaka,et al.  Resonant-Type Smooth Impact Drive Mechanism Actuator with Two Langevin Transducers , 2012, Adv. Robotics.

[8]  Kyung-Soo Kim,et al.  A novel smooth impact drive mechanism actuation method with dual-slider for a compact zoom lens system. , 2011, The Review of scientific instruments.

[9]  Sergej Fatikow,et al.  Open Loop Force Control of Piezo-Actuated Stick-Slip Drives , 2011, Int. J. Intell. Mechatronics Robotics.

[10]  Toshiro Higuchi,et al.  Evaluation of the driving performance of a surface acoustic wave linear motor , 2000, 2000 IEEE Ultrasonics Symposium. Proceedings. An International Symposium (Cat. No.00CH37121).

[11]  Jörg Wallaschek,et al.  Piezoelectric Equivalent Circuit Models , 2009 .

[12]  Frank Claeyssen,et al.  Improvement of Linear and Rotative Stepping Piezo Actuators Using Design and Control , 2012 .

[13]  Hiroshi Hosaka,et al.  A miniaturized resonant-type smooth impact drive mechanism actuator , 2012 .

[14]  Yasuhiro Okamoto,et al.  Development of linear actuators using piezoelectric elements , 1998 .

[15]  M. Pak,et al.  Load-velocity Characteristics of a Stick-slip Piezo Actuator , 2012 .

[16]  T. Morita,et al.  Resonant-type Smooth Impact Drive Mechanism (SIDM) actuator using a bolt-clamped Langevin transducer. , 2012, Ultrasonics.

[17]  Seok-Jin Yoon,et al.  Multilayer piezoelectric linear ultrasonic motor for camera module , 2009 .

[18]  Shao-Kang Hung,et al.  The design and characteristic research of a dual-mode inertia motor , 2011, 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).

[19]  E. Hewitt,et al.  The Gibbs-Wilbraham phenomenon: An episode in fourier analysis , 1979 .

[20]  E. Rabinowicz,et al.  Friction and Wear of Self-Lubricating Metallic Materials , 1975 .

[21]  Hans Günther Natke,et al.  Einführung in Theorie und Praxis der Zeitreihen- und Modalanalyse , 1983 .

[22]  M Palmer,et al.  Advanced Engineering Mathematics , 2003 .

[23]  Minoru Kurosawa,et al.  Ultrasonic motor utilizing elastic fin rotor , 1991, IEEE 1991 Ultrasonics Symposium,.

[24]  Christoph Edeler,et al.  Modellierung und Validierung der Krafterzeugung mit Stick-Slip-Antrieben für nanorobotische Anwendungen , 2011 .

[25]  Walter Sextro,et al.  Improving the Performance of Piezoelectric Inertia Motors , 2010 .

[26]  Walter Sextro,et al.  Stick–slip and slip–slip operation of piezoelectric inertia drives. Part I: Ideal excitation , 2013 .