Stick and slip actuators (SSA)

Carl Schmitt; Jean-Marc Breguet; Arvid Bergander; Reymond Clavel

doi:10.1117/12.403704

11 October 2000 Stick and slip actuators (SSA)

Carl Schmitt, Jean-Marc Breguet, Arvid Bergander, Reymond Clavel

Proceedings Volume 4194, Microrobotics and Microassembly II; (2000) https://doi.org/10.1117/12.403704
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

Stick and Skip Actuators (SSA) are particularly well adapted to micro- robotics. A simple design, a very high intrinsic resolution (a few nanometers) and a high rigidity make them especially interesting in high precision micro-manipulations. Moreover, a smart design allows to combine the guiding and actuating function. The mechanical interface between the piezo-elements and the guiding mechanisms in an important point of the stick and slip actuators. The design of this interface and the choice of the material are very important. Both aspects have an impact on the rigidity, which has an influence on the behavior of the actuator. They have also an incidence onf the reliability (lifetime) because the design gives the contact condition and the material the wear resistance. In addition, a loading system allowing to keep the mechanical contact at this interface has a direct effect on the contact pressure. In order to confirm the performance of SSA, prototypes have been developed at the ISR. Their designs have bene made for application in optical microscopy, for manipulators in industrial assembly of micro- engineering products, for micro-factory, chemical and bio-engineering equipment for research or routine tasks, such as testing, screening etc. This paper presents a short description of several SSA made by the IRS and describes the parameters characterizing the stick and slip motion and the mechanical interface.

Citation Download Citation

Carl Schmitt, Jean-Marc Breguet, Arvid Bergander, and Reymond Clavel "Stick and slip actuators (SSA)", Proc. SPIE 4194, Microrobotics and Microassembly II, (11 October 2000); https://doi.org/10.1117/12.403704

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