This paper proposes a purely center-rotation and non-redundant piezoelectric stick–slip rotary stage with force magnification. A bridge driving mechanism with centrosymmetric actuation feet is proposed, and its tilt angle can be adjusted to regulate the clamping force amplification characteristics, thus improving load capacities. Meanwhile, only a single piezoelectric actuator is used, and the driving mechanism is built in the circular slider, hence achieving non-redundant, purely centered rotation and improving the structural compactness. Theoretical calculations and simulation analyses of single-step rotation angles and force amplification of the rotary stage are carried out. In addition, a system dynamics model with electromechanical, rigid-flexible, and friction coupling properties is established. Finally, a prototype is fabricated, and various experiments are conducted. The designed bridge driving mechanism amplifies the piezoelectric actuation force by 2.8 times, and the stick–slip rotary stage has a maximum load of up to 9 kg. Also, the stage can rotate more than 360°, and the angular resolution is 0.1265 μrad, demonstrating superior performances of the non-redundant center-rotation stage.

中文翻译：

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一种具有力放大作用的纯中心非冗余压电粘滑旋转平台


本文提出了一种具有力放大功能的纯中心旋转、非冗余压电粘滑旋转平台。提出了一种具有中心对称驱动脚的桥式驱动机构，其倾斜角度可调节，以调节夹紧力放大特性，从而提高负载能力。同时，仅采用单个压电致动器，驱动机构内置于圆形滑块内，实现无冗余、纯中心旋转，提高了结构紧凑性。对旋转台的单步旋转角度和力放大进行理论计算和仿真分析。此外，还建立了具有机电、刚柔结合和摩擦耦合特性的系统动力学模型。最后，制作了原型机，并进行了各种实验。设计的桥式驱动机构将压电驱动力放大了2.8倍，粘滑旋转平台的最大负载可达9公斤。此外，该平台可以旋转超过360°，角分辨率为0.1265 μrad，展示了非冗余中心旋转平台的优越性能。