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Open AccessArticle

Improvements of Piezo-Actuated Stick–Slip Micro-Drives: Modeling and Driving Waveform

Department of Machine Design and Robotics, School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi 112452, Vietnam
Engberts GmbH, 26188 Edewecht, Germany
Author to whom correspondence should be addressed.
Coatings 2018, 8(2), 62;
Received: 29 December 2017 / Revised: 3 February 2018 / Accepted: 5 February 2018 / Published: 7 February 2018
(This article belongs to the Special Issue Piezoresistive and Piezoelectric Thin Films for Sensors)
PDF [15299 KB, uploaded 7 February 2018]


Modeling and waveform optimization are important research topics for piezo-actuated stick–slip micro-drives. In this paper, the dynamics of piezo-actuated stick–slip micro-drives (PASSMDs) are theoretically investigated. We introduce an extended model taking the dynamics of the piezo actuators into account. The model combines the whole macroscopic movement of the drive’s runner and actuators and the microscopic behavior of the frictional contacts in a hybrid dynamic simulation. The macroscopic movements are described via Newtonian mechanics, while the microscopic behavior is computed using the method of dimensionality reduction. Two important characteristics of the drive, the critical actuation amplitude and the force generation, are systematically analyzed. The numerical simulation results show a fine agreement with experimental data of the previously published work. The critical actuation amplitude is found to depend on the behavior of the guiding contacts, the dynamics of the actuators and their interaction. Furthermore, a novel driving waveform, which allows us to increase the operational velocity for the drive, is proposed. The waveform is derived by exploiting micro-vibration and considering the dynamic contact status. Simulation results show that the average velocity of the drive is heightened by about 15 % . The performance of the drive is therefore improved. View Full-Text
Keywords: contact mechanics; micro-robot; method of dimensionality reduction; piezo actuator; stick–slip micro-drive contact mechanics; micro-robot; method of dimensionality reduction; piezo actuator; stick–slip micro-drive

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Nguyen, X.-H.; Mau, T.-H.; Meyer, I.; Dang, B.-L.; Pham, H.-P. Improvements of Piezo-Actuated Stick–Slip Micro-Drives: Modeling and Driving Waveform. Coatings 2018, 8, 62.

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