Modeling of stick-slip micro-drives

This paper describes substantial investigations on stick-slip micro drives. The drives are the basis for miniaturized micro- and nanohandling robots, which are usually driven by piezo-actuators. Because of the reason that stick-slip drives are strongly connected with friction characteristics of the stick-slip contact, this paper focuses on several aspects of friction and the model. After an introduction of former attempts to simulate stick-slip devices based on the so-called LuGre model, the CEIM friction model presented in this paper is based on the Elastoplastic-model. It is shown that one of the most significant phenomena, the “0-amplitude”, is covered by the original Elastoplastic-model without modifications. Furthermore, a theoretic treatment of friction characteristics is performed. The properties of the model are validated by simulations and numerous measurements. Additionally, several adaptations are presented to enhance the model’s capabilities. However, friction is a complex matter with manifold specificities. Thus, beside theoretic treatment, the center of gravity is also on “technical” issues to deliver not only an academic contribution to theory of friction, but to establish a tool for design and optimization of practical stick-slip positioners.

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