Single-degree-of-freedom stick-slip driver and installation method

Abstract

The invention discloses a single-degree-of-freedom stick-slip driver and an installation method. The single-degree-of-freedom stick-slip driver comprises a fixed base and a stick-slip driver body, and the stick-slip driver body is detachably fixed to the fixed base. A mounting groove is formed in the fixed base, and a pre-tightening force displacement adjusting hole and a first stick-slip driving fixing hole are formed in the fixed base; the stick-slip driver comprises a compliant mechanism and a piezoelectric ceramic driver, the compliant mechanism comprises a base, an amplification mechanism and a flexible contact beam, the amplification mechanism and the flexible contact beam are located on the base, the piezoelectric ceramic driver enables the flexible contact beam to output displacement through the amplification mechanism, and the flexible contact beam is used for outputting displacement to the displacement output structure. And a pre-tightening force adjusting through hole and a second stick-slip driving fixing hole are formed in the base. The stick-slip driver can be flexibly mounted, dismounted and replaced on the fixed base, and the stick-slip driver has the advantages of being high in flexibility, low in cost and the like.

Description

Technical Field

[0001] The invention relates to the field of precision positioning, and in particular to a single-degree-of-freedom stick-slip driver and an installation method thereof. Background Art

[0002] Piezoelectric ceramic actuators are widely used in precision positioning, micro-nano manufacturing, bio-inspired manufacturing and other fields due to their advantages of high output accuracy, fast response speed, large output force, compact structure and simple control. Devices using piezoelectric ceramic actuators as driving sources can often achieve nanometer-level positioning accuracy.

[0003] However, since the output displacement of the piezoelectric ceramic driver is in the micron level, although it has high precision as a driving source, it cannot achieve long-stroke driving, which limits the application of piezoelectric ceramic drivers in high-precision aspects. Therefore, in order to increase the stroke, a stepper driver with a piezoelectric ceramic driver as the driving source has been developed, among which the most representative ones are: inchworm-type piezoelectric driver, ultrasonic piezoelectric driver and stick-slip piezoelectric driver. However, the inchworm-type piezoelectric driver has complex control and slow movement speed, and the ultrasonic piezoelectric driver has more serious wear. The stick-slip piezoelectric driver has the advantages of simple structure and easy control. It is often driven with structures such as flexible hinges to reduce wear between structures. Therefore, through the exploration of stick-slip drive, it is theoretically possible to achieve infinite stroke.

[0004] Although existing stick-slip actuators can achieve large output force, high resolution or long stroke, they are unable to flexibly adapt to a series of displacement output structures such as slide rails or bearings due to their different drive structures and output structures. Summary of the invention

[0005] The purpose of the present invention is to provide a single-degree-of-freedom stick-slip driver with a flexibly replaceable driving structure. The structure can be flexibly installed or disassembled to replace the stick-slip driver through the fixing method proposed by the present invention. The initial displacement between the stick-slip driver and the displacement output structure can be adjusted by adjusting the assembly depth of the preload displacement adjustment member in the preload displacement adjustment hole, which is convenient for adjusting the output of the displacement output structure and ensures the flexibility and reliability of the stick-slip driving platform.

[0006] In order to achieve the purpose of the present invention, the present invention provides a single-degree-of-freedom stick-slip actuator, comprising a fixed base and a stick-slip actuator, wherein the stick-slip actuator is detachably fixed to the fixed base;

[0007] The fixed base is provided with a mounting groove, and the fixed base is provided with a preload displacement adjustment hole and a first stick-slip drive fixing hole;

[0008] The stick-slip actuator comprises a compliance mechanism and a piezoelectric ceramic actuator, wherein the compliance mechanism comprises a base and a piezoelectric ceramic actuator located on the base, an amplifying mechanism and a flexible contact beam, wherein the piezoelectric ceramic actuator causes the flexible contact beam to output displacement through the amplifying mechanism, and the flexible contact beam is used to output displacement to the displacement output structure, and a preload adjustment through hole and a second stick-slip actuator fixing hole are provided on the base;

[0009] During installation, the preload adjustment through hole on the base is opposite to the preload displacement adjustment hole and cooperates with the preload displacement adjustment member, and the initial displacement between the stick-slip driver and the displacement output structure is adjusted by adjusting the assembly depth of the preload displacement adjustment member in the preload displacement adjustment hole; the second stick-slip drive fixing hole on the base is opposite to the first stick-slip drive fixing hole and fixes the stick-slip driver in the installation groove by cooperating with the fastener.

[0010] Furthermore, the displacement output structure is a cross roller slide rail. The stick-slip driver transmits the output displacement, force, etc. of the piezoelectric ceramic driver to the cross roller slide rail, and the cross roller slide rail moves linearly along the axis.

[0011] Preferably, the cross roller slide rail adopts a symmetrical double cross roller slide rail structure, and when installed on a fixed base, a certain degree of parallelism between the two slide rails is ensured to ensure smooth movement within the driving range.

[0012] Furthermore, it also includes a stage, which is connected to the displacement output structure.

[0013] Furthermore, the preload force adjustment displacement adjustment member is a bolt.

[0014] Furthermore, the fastener is a bolt or a screw.

[0015] Furthermore, a piezoelectric ceramic driver set screw mounting hole is provided on the base of the compliant mechanism and close to the piezoelectric ceramic driver, and the piezoelectric ceramic driver is fixed, pre-tightened and the output force and displacement are transmitted by assembling the set screw.

[0016] Furthermore, the amplifying mechanism comprises a diamond-shaped amplifying mechanism and a lever-type amplifying mechanism, and the compliant mechanism also comprises a rotational compliant hinge and a lever-type amplifying mechanism rotational hinge. The piezoelectric ceramic driver is located inside the diamond-shaped amplifying mechanism to provide deformation force for the compliant mechanism. The diamond-shaped amplifying mechanism is connected in series with the rotational compliant hinge, and the lever-type amplifying mechanism rotational hinge is connected in series with the lever-type amplifying mechanism. The series-connected diamond-shaped amplifying mechanism and the rotational compliant hinge and the series-connected lever-type amplifying mechanism rotational hinge, and the lever-type amplifying mechanism and the flexible contact beam are structurally connected in parallel.

[0017] The compliant mechanism flexibly amplifies and reduces the output force and output displacement of the piezoelectric ceramic driver through the cooperation of the rotating compliant hinge, the lever-type amplifying mechanism, the rotating hinge, the lever-type amplifying mechanism, etc. The piezoelectric ceramic driver is protected from shear force by the diamond-shaped amplifying mechanism.

[0018] Furthermore, the piezoelectric ceramic driver of the stick-slip driver generates force and displacement through an externally input sawtooth wave signal, and the compliance mechanism transmits the force and displacement generated by the piezoelectric ceramic driver to the displacement output structure.

[0019] Furthermore, the driving mode adopted is stick-slip driving, which produces the effect of slow driving and fast retreat through sawtooth waves to switch between sliding friction and static friction, and then obtains long-stroke movement through high-frequency repetition.

[0020] Furthermore, the sawtooth wave excitation voltage signal adjusts the movement speed, movement direction and movement resolution of the displacement output structure by adjusting the duty cycle, frequency and voltage amplitude.

[0021] The present invention also provides a method for installing a stick-slip actuator, comprising the steps of:

[0022] placing the stick-slip actuator in a mounting slot of the fixed base;

[0023] Inserting the preload displacement adjustment member into the preload adjustment through hole and the preload displacement adjustment hole in sequence, and adjusting the assembly depth of the preload displacement adjustment member in the preload displacement adjustment hole to adjust the initial displacement between the stick-slip driver and the displacement output structure;

[0024] inserting fasteners into the second stick-slip drive fixing hole and the first stick-slip drive fixing hole in sequence and tightening them to fix the stick-slip drive on the fixing base;

[0025] When disassembling, first loosen the fasteners and then unscrew the preload displacement adjustment parts.

[0026] Compared with the prior art, the present invention can at least achieve the following beneficial effects:

[0027] The present application can facilitate flexible installation and disassembly of stick-slip actuators of different configurations by cooperating the fastener with the second stick-slip drive fixing hole and the first stick-slip drive fixing hole, and by adjusting the preload displacement adjustment member and the preload adjustment through hole with the preload displacement adjustment hole. The application can also be installed on bases of different configurations to meet work requirements, and can flexibly adapt to complex tasks under different working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1A schematic diagram of the structure of a single-degree-of-freedom stick-slip actuator without a stage (left figure) and with a stage (right figure) provided in an embodiment of the present invention;

[0029] Figure 2 Schematic diagram of a fixed support and a cross roller slide rail of a single degree of freedom stick-slip actuator in an embodiment of the present invention;

[0030] Figure 3 is a schematic diagram of a compliant drive mechanism in an embodiment of the present invention;

[0031] Figure 4 It is a schematic diagram of the pre-tightening displacement adjustment structure of the compliant mechanism in an embodiment of the present invention;

[0032] Figure 5 Schematic diagram of a vertical single-degree-of-freedom stick-slip actuator in an embodiment of the present invention;

[0033] Figure 6 Schematic diagram of the installation of the compliant drive structure of the vertical single-degree-of-freedom stick-slip actuator in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] The configuration proposed in the present invention proposes two platform structures using a fully active stick-slip drive and a platform structure using a combination of active and passive. The 4-PPPS precision positioning platform using other linear drive motors can adopt this configuration to achieve corresponding functions.

[0036] See also Figure 1 to Figure 4 The present invention provides a single-degree-of-freedom stick-slip actuator, which includes a fixed base 5 and a stick-slip actuator 3.

[0037] The fixed base 5 is provided with a mounting groove, and the fixed base 5 is provided with a preload displacement adjustment hole 21 and a first stick-slip drive fixing hole.

[0038] The stick-slip driver 3 includes a compliance mechanism and a piezoelectric ceramic driver 32. The compliance mechanism includes a base, an amplifying mechanism located on the base, and a flexible contact beam 33. The piezoelectric ceramic driver 32 causes the flexible contact beam 33 to output displacement through the amplifying mechanism. The flexible contact beam 33 is used to output displacement to the displacement output structure 1. A preload adjustment through hole 21 and a second stick-slip driver fixing hole 35 are provided on the base.

[0039] During installation, the preload force adjustment through hole on the base is opposite to the preload force displacement adjustment hole 21 and cooperates with the preload force displacement adjustment member, and the initial displacement between the stick-slip driver and the displacement output structure 1 is adjusted by adjusting the assembly depth of the preload force displacement adjustment member in the preload force displacement adjustment hole 21; the second stick-slip drive fixing hole 35 on the base is opposite to the first stick-slip drive fixing hole and the stick-slip driver 3 is fixed in the installation groove of the fixed base 5 by cooperating with.

[0040] In some embodiments of the present invention, the displacement output structure 1 is a cross roller slide rail, and a loading platform 2 is arranged on the top of the cross roller slide rail.

[0041] The stick-slip driver 3 adjusts the distance from the compliant contact beam 33 on the stick-slip driver 3 to the cross roller slide rail by cooperating with the preload displacement adjustment bolt (i.e., the preload displacement adjustment member) and the preload displacement adjustment bolt hole 21 (i.e., the preload displacement adjustment hole), and is then fixed to the fixed base 5 by the compliant mechanism fixing screw (i.e., the fastener 4).

[0042] The stick-slip driver 3 transmits the output displacement, force, etc. of the piezoelectric ceramic driver 32 to the cross roller slide rail, driving the cross roller slide rail to move linearly along the axial direction.

[0043] The cross roller slide adopts a symmetrical double cross roller slide structure, which is installed on a fixed base 5, and there is a certain degree of parallelism between the two slides of the cross roller slide to ensure smooth movement within the driving range.

[0044] See also Figure 1 and Figure 3 The stick-slip driver 3 includes a compliance mechanism 31 and a piezoelectric ceramic driver 32. The piezoelectric ceramic driver 32 generates force and displacement through an externally input sawtooth wave signal, and the compliance mechanism 31 transmits the force and displacement generated by the piezoelectric ceramic driver 32 to the cross roller slide rail.

[0045] Specifically, see Figure 2 and Figure 3The compliant mechanism 31 is provided with preload adjustment through holes on both sides of the base, which are defined as a first preload displacement adjustment hole 41 and a second preload displacement adjustment hole 42. The compliant mechanism 31 can be pre-installed in the mounting groove provided on the fixed base 5 through the preload displacement adjustment member. The preload displacement adjustment member passes through the preload adjustment through hole 41 and then enters the preload displacement adjustment hole 21 (provided with an internal thread). The initial displacement between the stick-slip driver 3 and the lower plane of the cross roller slide rail can be adjusted by adjusting the screwing depth of the preload displacement adjustment bolt (preload displacement adjustment member) in the preload displacement adjustment hole 21. Under the adaptive action of the flexible contact beam 33, the preload of the compliant mechanism 31 can be adjusted through the initial displacement. Tightening straight notches 35 (i.e., the second stick-slip drive fixing holes) are provided on both side surfaces of the base of the compliant mechanism 31, and the stick-slip driver 3 can be fixed as a whole in the mounting groove of the fixed base 5 through the compliant mechanism fixing screws (i.e., the fasteners 4).

[0046] See also Figure 3 The compliant mechanism 31 includes a base and a diamond-shaped amplifying mechanism 38, a rotating compliant hinge 37, a lever-type amplifying mechanism rotating hinge 36, a lever-type amplifying mechanism 34 and a flexible contact beam 33 located on the base. The piezoelectric ceramic driver 32 is used to drive the compliant mechanism 31. The piezoelectric ceramic driver 32 is located inside the diamond-shaped amplifying mechanism 38 to provide deformation force for the compliant mechanism 31. The diamond-shaped amplifying mechanism 38 is connected in series with the rotating compliant hinge 37, and the rod-type amplifying mechanism rotating hinge 36 is connected in series with the lever-type amplifying mechanism 34. The diamond-shaped amplifying mechanism 38 connected in series and the rotating compliant hinge 37 and the rod-type amplifying mechanism rotating hinge 36, the lever-type amplifying mechanism 34 and the flexible contact beam 33 are structurally connected in parallel to meet the ideal displacement output by the flexible contact beam 33.

[0047] In some embodiments of the present invention, the rotationally compliant hinge 37, the lever-type amplifying mechanism 34, the lever-type amplifying mechanism rotation hinge 36, the flexible contact beam 33, and the diamond-shaped amplifying mechanism 38 are integrally formed by wire cutting.

[0048] The compliance mechanism 31 flexibly amplifies and reduces the output force and output displacement of the piezoelectric ceramic driver 32 through the cooperation of the rotating compliance hinge 37 , the lever-type amplifying mechanism rotating hinge 36 , the lever-type amplifying mechanism 34 and other structures.

[0049] In some embodiments of the present invention, the compliant mechanism 31 can adjust the output force, output speed, resolution, etc. of the single-degree-of-freedom stick-slip actuator by configuring a lever-type amplification mechanism, a diamond-shaped amplification mechanism, or selecting a series / parallel configuration of a straight circular or square hinge.

[0050] See also Figure 1 and Figure 3The compliant mechanism 31 prevents the piezoelectric ceramic driver 32 from being subjected to shear force by means of a rhombus-shaped amplifying mechanism 38 .

[0051] See also Figure 3 and Figure 4 A piezoelectric ceramic driver fixing screw mounting hole 43 is provided on the side of the base of the compliant mechanism 31 and at a position opposite to the diamond-shaped amplifying mechanism 38. By assembling the fixing screw 39, the piezoelectric ceramic driver 32 can be fixed, pre-tightened and the output force and displacement can be transmitted.

[0052] The stick-slip drive adopts a stick-slip drive, which uses a sawtooth wave to produce a slow drive and fast retraction effect to switch between sliding friction and static friction, and then obtains a long-stroke movement through high-frequency repetition.

[0053] The stick-slip driving method comprises the following steps:

[0054] S1. The initial displacement between the compliance mechanism 31 and the cross roller slide rail is adjusted by cooperating the preload displacement adjustment bolt and the preload displacement adjustment bolt hole, and then the compliance mechanism 31 is fixed in the installation groove of the fixed base 5 by the compliance mechanism fixing screw.

[0055] S2. Input a sawtooth wave excitation voltage signal to the piezoelectric ceramic driver 32 to realize linear drive along the moving direction of the cross roller slide rail, thereby realizing stick-slip drive.

[0056] In some embodiments of the present invention, the sawtooth wave excitation voltage signal can adjust the movement speed, movement direction and movement resolution of the cross roller slide rail by adjusting parameters such as duty cycle, frequency, voltage amplitude, etc.

[0057] A method for installing a stick-slip actuator comprises the steps of:

[0058] Placing the stick-slip actuator 3 in the mounting groove of the fixed base 5;

[0059] Inserting the preload displacement adjustment member into the preload adjustment through hole and the preload displacement adjustment hole in sequence, and adjusting the assembly depth of the preload displacement adjustment member in the preload displacement adjustment hole to adjust the initial displacement between the stick-slip driver and the displacement output structure;

[0060] inserting fasteners into the second stick-slip drive fixing hole and the first stick-slip drive fixing hole in sequence and tightening them to fix the stick-slip drive on the fixing base;

[0061] When disassembling, first loosen the fasteners and then unscrew the preload displacement adjustment parts.

[0062] See also Figure 3 and Figure 4The present invention adjusts the preload by simultaneously adjusting the first preload displacement adjustment hole 41 and the second preload displacement adjustment hole 42 on both sides of the compliance mechanism 31. The drive installation can be achieved by tightening the fixing straight notches 35 on both sides through the compliance mechanism fixing screws. For disassembly, first loosen the compliance mechanism fixing screws, then unscrew the preload adjustment bolts, and then the stick-slip driver 3 can be disassembled.

[0063] In another embodiment of the present invention, see Figure 5 and 6 , a single degree of freedom stick-slip actuator, the single degree of freedom stick-slip actuator can be fixed in any direction. This embodiment takes a vertical single degree of freedom stick-slip actuator as an example.

[0064] The vertical single-degree-of-freedom stick-slip actuator is driven in a vertical direction. After the driving direction and driving position are changed, the stick-slip actuator can be installed and fixed by using the pre-tightening bolt 67 and the compliance mechanism fixing screw 66.

[0065] See also Figure 5 The single-degree-of-freedom stick-slip actuator driven in the vertical direction includes a stage 51 , a stick-slip actuator fixing base 52 , and a cross roller slide rail mounting hole 53 .

[0066] See also Figure 6 The vertical single-degree-of-freedom stick-slip actuator comprises a slide rail fixing base 61, a stage mounting hole 62, base fixing holes 63 on both sides, a cross roller slide rail 64, a piezoelectric stick-slip actuator 65, a compliance mechanism fixing screw 66, and a pre-tightening bolt 67.

[0067] The piezoelectric stick-slip actuator 65 adjusts the initial distance between the output end of the flexible contact beam 33 of the piezoelectric stick-slip actuator 65 and the cross-roller slide rail 64 from the stick-slip actuator fixed base 52 laterally through the pre-tightening bolt 67, and then fixes the piezoelectric stick-slip actuator 65 through the compliance mechanism fixing screw 66 and the threaded hole on the stick-slip actuator fixed base 52.

[0068] The installation method of the piezoelectric stick-slip actuator is similar to the installation method in the previous embodiment, but can be used to achieve fixation on some special shaped bases such as the stick-slip actuator fixing base 52 here.

[0069] Preferably, the stick-slip driving method comprises the following steps:

[0070] S1. The initial displacement between the piezoelectric stick-slip actuator 65 and the cross roller slide rail 64 is adjusted by the pre-tightening bolt 67, and then fixed in the mounting groove of the stick-slip actuator fixed base 52 by the compliance mechanism fixing screw 66.

[0071] S2. Input a sawtooth wave excitation voltage signal to the piezoelectric stick-slip driver 65 to realize linear drive in the corresponding direction and implement stick-slip drive.

[0072] In some embodiments of the present invention, the sawtooth wave excitation voltage signal adjusts the movement speed, movement direction and movement resolution of the cross roller slide rail by adjusting parameters such as duty cycle, frequency, voltage amplitude, etc.

[0073] The above-mentioned embodiment of the present invention provides a single-degree-of-freedom stick-slip actuator and installation method. By setting a preload adjustment through hole on the compliance mechanism, the compliance mechanism can be pre-installed in the installation groove on the fixed base through the preload displacement adjustment bolt. The initial displacement between the stick-slip actuator and the lower plane of the cross roller slide rail can be adjusted by adjusting the assembly depth of the preload displacement adjustment bolt in the preload displacement adjustment hole on the fixed base. Under the adaptive action of the flexible contact cantilever beam, the preload of the compliance mechanism can be adjusted through the initial displacement. A second stick-slip drive fixing hole is also provided on the compliance mechanism, and the stick-slip actuator can be fixed as a whole in the installation groove of the fixed base through a set screw. There are no requirements for the configuration of the stick-slip actuator, the specific shape of the fixed base, etc. The stick-slip actuator is easy to install and can be easily installed and replaced. The single-degree-of-freedom stick-slip actuator and the installation method thereof have the advantages of high flexibility and low cost.

[0074] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A single-degree-of-freedom stick-slip actuator, characterized in that: It includes a fixed base and a stick-slip driver, wherein the stick-slip driver is detachably fixed on the fixed base; The fixed base is provided with a mounting groove, and the fixed base is provided with a preload displacement adjustment hole and a first stick-slip drive fixing hole; The stick-slip actuator comprises a compliance mechanism and a piezoelectric ceramic actuator, the compliance mechanism comprises a base, an amplifying mechanism and a flexible contact beam located on the base, the piezoelectric ceramic actuator causes the flexible contact beam to output displacement through the amplifying mechanism, the flexible contact beam is used to output displacement to the displacement output structure, and a preload adjustment through hole and a second stick-slip actuator fixing hole are provided on the base; During installation, the preload adjustment through hole on the base is opposite to the preload displacement adjustment hole and cooperates with the preload displacement adjustment member, and the initial displacement between the stick-slip driver and the displacement output structure is adjusted by adjusting the assembly depth of the preload displacement adjustment member in the preload displacement adjustment hole; the second stick-slip drive fixing hole on the base is opposite to the first stick-slip drive fixing hole and fixes the stick-slip driver in the installation groove by cooperating with the fastener.

2. A single degree of freedom stick-slip actuator according to claim 1, characterized in that: The displacement output structure is a cross roller slide rail.

3. The single-degree-of-freedom stick-slip actuator according to claim 1, characterized in that: It also includes a loading platform, which is connected to the displacement output structure.

4. The single-degree-of-freedom stick-slip actuator according to claim 1, characterized in that: The preload force adjustment displacement adjustment member is a bolt.

5. The single-degree-of-freedom stick-slip actuator according to claim 1, characterized in that: The fastener is a bolt or a screw.

6. The single-degree-of-freedom stick-slip actuator according to claim 1, characterized in that: A piezoelectric ceramic driver set screw mounting hole is provided on the base of the compliant mechanism and at a position close to the piezoelectric ceramic driver. The piezoelectric ceramic driver is fixed, pre-tightened and the output force and displacement are transmitted by assembling the set screw.

7. The single-degree-of-freedom stick-slip actuator according to claim 1, characterized in that: The amplifying mechanism comprises a diamond-shaped amplifying mechanism and a lever-type amplifying mechanism, and the compliant mechanism also comprises a rotational compliant hinge and a lever-type amplifying mechanism rotational hinge. The piezoelectric ceramic driver is located inside the diamond-shaped amplifying mechanism to provide deformation force for the compliant mechanism. The diamond-shaped amplifying mechanism is connected in series with the rotational compliant hinge, and the lever-type amplifying mechanism rotational hinge is connected in series with the lever-type amplifying mechanism. The series-connected diamond-shaped amplifying mechanism and the rotational compliant hinge and the series-connected lever-type amplifying mechanism rotational hinge, and the lever-type amplifying mechanism and the flexible contact beam are structurally connected in parallel.

8. A single degree of freedom stick-slip actuator according to any one of claims 1 to 7, characterized in that: The piezoelectric ceramic driver of the stick-slip driver generates force and displacement through an externally input sawtooth wave signal, and the compliance mechanism transmits the force and displacement generated by the piezoelectric ceramic driver to the displacement output structure.

9. The single-degree-of-freedom stick-slip actuator according to claim 8, characterized in that: The sawtooth wave excitation voltage signal adjusts the movement speed, movement direction and movement resolution of the displacement output structure by adjusting the duty cycle, frequency and voltage amplitude.

10. A method for installing a stick-slip actuator, characterized in that: Includes steps: placing the stick-slip actuator in a mounting slot of the fixed base; Inserting the preload displacement adjustment member into the preload adjustment through hole and the preload displacement adjustment hole in sequence, and adjusting the assembly depth of the preload displacement adjustment member in the preload displacement adjustment hole to adjust the initial displacement between the stick-slip driver and the displacement output structure; inserting fasteners into the second stick-slip drive fixing hole and the first stick-slip drive fixing hole in sequence and tightening them to fix the stick-slip drive on the fixing base; When disassembling, first loosen the fasteners and then unscrew the preload displacement adjustment parts.

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