Authors: Bowen Zhong; Liguo Chen; Zhenhua Wang; Lining Sun
Addresses: Robot Research Institute, Harbin Institute of Technology, Harbin 150001, China. ' Robotics and Microsystems Center, Soochow University, Suzhou 215021, China. ' Robotics and Microsystems Center, Soochow University, Suzhou 215021, China. ' Robot Research Institute, Harbin Institute of Technology, Harbin 150001, China
Abstract: In this paper, rigid model and flexible model of a novel stick-slip driving stage was proposed. In the building of rigid and flexible model of a novel stick-slip driving system, LuGre friction model was selected which is most suitable for the stick-slip driving. Combined with LuGre model, the rigid model of stick-slip driving was built and simulated in Simulink software. Combined with LuGre model and dynamics model of flexible hinge, the flexible model of stick-slip system was built and simulated in Simulink software. The displacement, speed and acceleration curve of the PZT, inertial mass and slider were obtained. Experiment prototype and the testing of stick-slip driving system were also designed. The actual displacement curve of different direction of the slider and the step displacement curve of the PZT were tested and the problem of different direction with different displacement was found. In order to better compare testing results and simulation results, simulation results and testing results were processed to show in a figure. The simulation results are validated by the testing results. Therefore, the rigid and flexible model is suitable to study the novel stick-slip stage and a kind of problem in stick-slip driving.
Keywords: rigid models; flexible models; stick-slip driving; nanotechnology; friction modelling; simulation; dynamic modelling; displacement curve.
International Journal of Mechatronics and Automation, 2012 Vol.2 No.3, pp.185 - 194
Received: 03 Apr 2012
Accepted: 13 Jul 2012
Published online: 02 Oct 2012 *