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

Abstract

The application discloses a single-degree-of-freedom stick-slip driver and a mounting method. The single-degree-of-freedom stick-slip driver comprises a fixed base and a stick-slip driver which is detachably fixed on the fixed base; the fixed base is provided with a mounting groove, a pre-tightening force displacement adjusting hole and a first stick-slip driver 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 which are located on the base, the piezoelectric ceramic driver makes the flexible contact beam output displacement through the amplification mechanism, the flexible contact beam is used for outputting displacement to a displacement output structure, and the base is provided with a pre-tightening force adjusting through hole and a second stick-slip driver fixing hole. The application can realize flexible mounting and dismounting and replacement of the stick-slip driver on the fixed base, and has the advantages of high flexibility, low cost and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of precision positioning, in particular to a single degree of freedom stick-slip driver and mounting method. BACKGROUND

[0002] Piezoelectric ceramic driver is widely used in the field of precision positioning, micro-nano manufacturing, biological power and other fields due to its high output precision, fast response speed, large output force, compact structure and simple control. The equipment with piezoelectric ceramic driver as driving source can often achieve nanometer level positioning accuracy.

[0003] However, the output displacement of piezoelectric ceramic driver is micron level, and as a driving source, it has high precision, but cannot realize long stroke driving, which limits the application of piezoelectric ceramic driver in high precision. Therefore, in order to increase the stroke, a stepping driver with piezoelectric ceramic driver as driving source is developed, among which the most representative are inchworm piezoelectric driver, ultrasonic piezoelectric driver and stick-slip piezoelectric driver. However, the inchworm piezoelectric driver has complex control and slow movement speed, the ultrasonic piezoelectric driver has serious wear, and the stick-slip piezoelectric driver has the advantages of simple structure and easy control, and is often driven with flexible hinge and other structures to reduce the wear between the structures. Therefore, theoretically, the stick-slip driver can realize infinite stroke.

[0004] The existing stick-slip driver can realize large output force, high resolution or long stroke, but the driving structure and output structure are different, and cannot be flexibly adapted to a series of displacement output structures such as slide rail or bearing. SUMMARY

[0005] The purpose of the present application is to provide a single degree of freedom stick-slip driver which can flexibly replace the driving structure. The structure can be flexibly installed or disassembled and replaced by the fixing method proposed in the present application. The initial displacement between the stick-slip driver and the displacement output structure can be adjusted by adjusting the assembly depth of the pre-tightening force displacement adjusting part in the pre-tightening force displacement adjusting hole, which is convenient for adjusting the output to 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 application, the present application provides a single degree of freedom stick-slip driver, which comprises a fixed base and a stick-slip driver, wherein the stick-slip driver is detachably fixed on the fixed base.

[0007] The fixed base is provided with a mounting groove, and a pre-tightening force displacement adjusting hole and a first stick-slip driver fixing hole are formed on the fixed base.

[0008] The stick-slip driver comprises a compliant mechanism and a piezoelectric ceramic driver, the compliant mechanism comprises a base and a piezoelectric ceramic driver on the base, an amplification mechanism and a flexible contact beam, the piezoelectric ceramic driver outputs displacement of the flexible contact beam through the amplification mechanism, the flexible contact beam is used for outputting displacement to a displacement output structure, and the base is provided with a pre-tightening force adjusting through hole and a second stick-slip driver fixing hole.

[0009] During installation, the pre-tightening force adjusting through hole on the base is opposite to the pre-tightening force displacement adjusting hole and cooperates with the pre-tightening force displacement adjusting piece, the initial displacement between the stick-slip driver and the displacement output structure is adjusted by adjusting the assembly depth of the pre-tightening force displacement adjusting piece in the pre-tightening force displacement adjusting hole, and the second stick-slip driver fixing hole on the base is opposite to the first stick-slip driver fixing hole and cooperates with the fastener to fix the stick-slip driver in the installation groove.

[0010] Further, the displacement output structure is a cross roller slide rail. The stick-slip driver transmits the output displacement, force and the like of the piezoelectric ceramic driver to the cross roller slide rail, and the cross roller slide rail moves along an axis square line.

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

[0012] Further, the stick-slip driver further comprises a carrier, and the carrier is connected with the displacement output structure.

[0013] Further, the pre-tightening force displacement adjusting piece is a bolt.

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

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

[0016] Further, the amplification mechanism is a diamond-shaped amplification mechanism or a lever-type amplification mechanism, the compliant mechanism further comprises a rotary compliant hinge and a lever-type amplification mechanism rotary hinge, the piezoelectric ceramic driver is located in the interior of the diamond-shaped amplification mechanism to provide a deformation force for the compliant mechanism, the diamond-shaped amplification mechanism is connected in series with the rotary compliant hinge, the lever-type amplification mechanism rotary hinge is connected in series with the lever-type amplification mechanism, and the series-connected diamond-shaped amplification mechanism and rotary compliant hinge and the series-connected lever-type amplification mechanism rotary hinge and lever-type amplification mechanism are connected in parallel in structure with the flexible contact beam.

[0017] The compliant mechanism flexibly amplifies and reduces the output force and output displacement of the piezoelectric ceramic driver through the cooperation of rotating compliant hinges, lever amplification mechanism rotating hinges, lever amplification mechanism, etc. The piezoelectric ceramic driver is avoided from being subjected to shearing force through the diamond-shaped amplification mechanism.

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

[0019] Further, the driving mode adopted is stick-slip driving, the effect of slow driving and fast retreat is generated through the sawtooth wave, the conversion between sliding friction and static friction is realized, and long-stroke movement can be obtained through high-frequency repetition.

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

[0021] The application also provides a mounting method of the stick-slip driver, comprising the steps of:

[0022] Placing the stick-slip driver in the mounting groove of the fixed base;

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

[0024] Inserting the fastener into the second stick-slip driving fixing hole and the first stick-slip driving fixing hole in sequence and tightening to fix the stick-slip driver on the fixed base;

[0025] When disassembling, first loosen the fastener, and then unscrew the pre-tightening force displacement adjusting member.

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

[0027] Through the cooperation of the fastener and the second stick-slip driving fixing hole and the first stick-slip driving fixing hole, and through the cooperation of the pre-tightening force displacement adjusting member and the pre-tightening force adjusting through hole and the pre-tightening force displacement adjusting hole, the application can conveniently and flexibly install and disassemble and replace stick-slip drivers of different structures, and can be installed on bases of different structures to meet the work requirements and can flexibly adapt to complex tasks under different working conditions. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1Structure schematic view of a single degree of freedom stick-slip driver without a carrier table (left) and with a carrier table (right) provided for an embodiment of the present application;

[0029] Figure 2 Schematic view of a fixed support and a cross roller slide rail for a single degree of freedom stick-slip driver in an embodiment of the present application;

[0030] Figure 3 Schematic view of a compliant driving mechanism in an embodiment of the present application;

[0031] Figure 4 Schematic view of a compliant mechanism pre-tightening displacement adjustment structure in an embodiment of the present application;

[0032] Figure 5 Schematic view of a vertical single degree of freedom stick-slip driver in an embodiment of the present application;

[0033] Figure 6 Schematic view of a compliant driving structure installation of a vertical single degree of freedom stick-slip driver in an embodiment of the present application. DETAILED DESCRIPTION

[0034] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0035] Two platform structures using full active stick-slip drivers and a platform structure using active and passive combination are provided for the configuration proposed in the present application, and the 4-PPPS precision positioning platform using other linear driving motors can also use the configuration to achieve the corresponding functions.

[0036] Referring to Figures 1-4 The single degree of freedom stick-slip driver provided by the present application comprises a fixed base 5 and a stick-slip driver 3.

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

[0038] The stick-slip driver 3 comprises a compliant mechanism and a piezoelectric ceramic driver 32. The compliant mechanism comprises a base, an amplification mechanism on the base, and a flexible contact beam 33. The piezoelectric ceramic driver 32 makes the flexible contact beam 33 output displacement through the amplification mechanism. The flexible contact beam 33 is used to output displacement to the displacement output structure 1. The base is provided with a pre-tightening force adjustment through hole 21 and a second stick-slip driver fixing hole 35.

[0039] When installed, the pre-tightening force adjustment hole on the base is opposite to the pre-tightening force displacement adjustment hole 21 and cooperates with the pre-tightening 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 pre-tightening force displacement adjustment member in the pre-tightening force displacement adjustment hole 21; the second stick-slip driver fixing hole on the base is opposite to the first stick-slip driver fixing hole and cooperates with the first stick-slip driver fixing hole to fix the stick-slip driver 3 in the mounting groove of the fixed base 5.

[0040] In some embodiments of the present application, the displacement output structure 1 is a cross-roller slide, and a sample stage 2 is arranged on the top of the cross-roller slide.

[0041] The stick-slip driver 3 adjusts the distance of the compliant contact beam 33 on the stick-slip driver 3 to the cross-roller slide through the cooperation of the pre-tightening force displacement adjustment bolt (i.e. the pre-tightening force displacement adjustment member) and the pre-tightening force displacement adjustment bolt hole 21 (i.e. the pre-tightening force displacement adjustment hole), and is fixed on the fixed base 5 through 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 to drive the cross-roller slide to move linearly along the axial direction.

[0043] The cross-roller slide adopts a symmetrical double cross-roller slide structure, is mounted on the fixed base 5, and has a certain parallelism between the two slides of the cross-roller slide to meet the smooth movement in the driving interval.

[0044] Referring to Figure 1 and Figure 3 , the stick-slip driver 3 includes a compliant 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 compliant mechanism 31 transmits the force and displacement generated by the piezoelectric ceramic driver 32 to the cross-roller slide.

[0045] Specifically, please refer to Figure 2 and Figure 3The compliant mechanism 31 is provided with pre-tightening force adjusting through holes on both sides of the base, defined as first pre-tightening force displacement adjusting holes 41 and second pre-tightening force displacement adjusting holes 42, the pre-tightening force displacement adjusting member can pre-mount the compliant mechanism 31 in the mounting groove provided on the fixed base 5, the pre-tightening force displacement adjusting member passes through the pre-tightening force adjusting through hole 41 and then passes into the pre-tightening force displacement adjusting hole 21 (provided with internal threads), adjusting the screwing depth of the pre-tightening force displacement adjusting bolt (pre-tightening force displacement adjusting member) in the pre-tightening force displacement adjusting hole 21 can adjust the initial displacement between the stick-slip drive 3 and the lower plane of the cross roller slide, under the adaptation of the flexible contact beam 33, the pre-tightening force of the compliant mechanism 31 can be adjusted through the initial displacement; the tight straight slots 35 (i.e. the second stick-slip drive fixing hole) are provided on both sides of the base of the compliant mechanism 31, the stick-slip drive 3 can be fixed as a whole in the mounting groove of the fixed base 5 through the compliant mechanism fixing screw (i.e. the fastener 4).

[0046] Referring to Figure 3 The compliant mechanism 31 comprises a base and a rhombic amplification mechanism 38, a rotary compliant hinge 37, a lever amplification mechanism rotary hinge 36, a lever amplification mechanism 34 and a flexible contact beam 33 on the base, the piezoelectric ceramic drive 32 is used for driving the compliant mechanism 31, the piezoelectric ceramic drive 32 is located in the interior of the rhombic amplification mechanism 38, providing deformation force for the compliant mechanism 31, the rhombic amplification mechanism 38 is connected in series with the rotary compliant hinge 37, the lever amplification mechanism rotary hinge 36 is connected in series with the lever amplification mechanism 34, the series-connected rhombic amplification mechanism 38, the rotary compliant hinge 37, the series-connected lever amplification mechanism rotary hinge 36 and the lever amplification mechanism 34 are connected in parallel with the flexible contact beam 33 in structure, satisfying the ideal displacement output of the flexible contact beam 33.

[0047] In some embodiments of the present application, the rotary compliant hinge 37, the lever amplification mechanism 34, the lever amplification mechanism rotary hinge 36, the flexible contact beam 33 and the rhombic amplification mechanism 38 are integrally formed by wire cutting.

[0048] The compliant mechanism 31 can flexibly amplify and reduce the output force and displacement of the piezoelectric ceramic drive 32 through the cooperation of the rotary compliant hinge 37, the lever amplification mechanism rotary hinge 36 and the lever amplification mechanism 34.

[0049] In some embodiments of the present application, the compliant mechanism 31 can adjust the output force, output speed and resolution of the single-degree-of-freedom stick-slip drive through the configuration of the lever amplification mechanism and the rhombic amplification mechanism, or through the selection of the series / parallel configuration of straight circular hinges and square hinges.

[0050] Referring to Figure 1 and Figure 3The compliant mechanism 31 avoids the piezoelectric ceramic driver 32 from being subjected to shearing force through the setting of the diamond-shaped amplification mechanism 38.

[0051] Referring to Figure 3 and Figure 4 The piezoelectric ceramic driver fixing screw mounting hole 43 is arranged at the side of the base of the compliant mechanism 31 and opposite to the diamond-shaped amplification mechanism 38, and the piezoelectric ceramic driver 32 can be fixed, pre-tightened, and output force and displacement through the assembly of the fixing screw 39.

[0052] The driving mode adopted by the stick-slip driver is stick-slip driving, the effect of slow driving and fast return is generated through sawtooth wave, the conversion between sliding friction and static friction is realized, and long-stroke motion can be obtained through high-frequency repetition.

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

[0054] S1, the initial displacement between the compliant mechanism 31 and the cross roller slide rail is adjusted through the cooperation of the pre-tightening force displacement adjusting bolt and the pre-tightening force displacement adjusting bolt hole, and the compliant mechanism 31 is fixed in the mounting groove of the fixed base 5 through the compliant mechanism fixing screw.

[0055] S2, the sawtooth wave excitation voltage signal is input to the piezoelectric ceramic driver 32, linear driving along the motion direction of the cross roller slide rail is realized, and stick-slip driving is realized.

[0056] In some embodiments of the present application, the sawtooth wave excitation voltage signal can adjust the motion speed, motion direction and motion resolution of the cross roller slide rail through the adjustment of parameters such as duty ratio, frequency and voltage amplitude.

[0057] A mounting method of a stick-slip driver, comprising the following steps:

[0058] The stick-slip driver 3 is placed in the mounting groove of the fixed base 5;

[0059] The pre-tightening force displacement adjusting member is sequentially inserted into the pre-tightening force adjusting through hole and the pre-tightening force displacement adjusting hole, the assembly depth of the pre-tightening force displacement adjusting member in the pre-tightening force displacement adjusting hole is adjusted to adjust the initial displacement between the stick-slip driver and the displacement output structure;

[0060] The fastener is sequentially inserted into the second stick-slip driver fixing hole and the first stick-slip driver fixing hole and tightened to fix the stick-slip driver on the fixed base;

[0061] When disassembling, the fastener is loosened first, and then the pre-tightening force displacement adjusting member is unscrewed.

[0062] Referring to Figure 3 and Figure 4The present application adjusts the pre-tightening force by adjusting the first pre-tightening force displacement adjusting hole 41 and the second pre-tightening force displacement adjusting hole 42 on both sides of the compliant mechanism 31, and fixes the compliant mechanism by pressing the two sides of the tight straight slot 35 with the compliant mechanism fixing screw, so that the installation and disassembly of the drive can be realized.

[0063] In another embodiment of the present application, referring to Figure 5 and 6 A single-degree-of-freedom stick-slip drive can be fixed in any direction, and the present embodiment takes a vertical single-degree-of-freedom stick-slip drive as an example.

[0064] The vertical single-degree-of-freedom stick-slip drive changes the drive to the vertical direction, and after changing the driving direction and driving position, the pre-tightening force pre-tightening bolt 67 and the compliant mechanism fixing screw 66 can meet the installation and fixation of the stick-slip drive.

[0065] Referring to Figure 5 , the single-degree-of-freedom stick-slip drive driven in the vertical direction includes a load table 51, a stick-slip drive fixed base 52, and a cross roller slide rail mounting hole 53.

[0066] Referring to Figure 6 , the vertical single-degree-of-freedom stick-slip drive includes a slide rail fixed base 61, a load table mounting hole 62, two side base fixing holes 63, a cross roller slide rail 64, a piezoelectric stick-slip drive 65, a compliant mechanism fixing screw 66, and a pre-tightening force pre-tightening bolt 67.

[0067] The piezoelectric stick-slip drive 65 adjusts the initial distance between the output end of the flexible contact beam 33 of the piezoelectric stick-slip drive 65 and the cross roller slide rail 64 from the side of the stick-slip drive fixed base 52 through the pre-tightening force pre-tightening bolt 67, and then realizes the fixation of the piezoelectric stick-slip drive 65 by cooperating the compliant mechanism fixing screw 66 with the threaded hole on the stick-slip drive fixed base 52.

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

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

[0070] S1, adjust the initial displacement between the piezoelectric stick-slip drive 65 and the cross roller slide rail 64 through the pre-tightening force pre-tightening bolt 67, and then fix it in the installation groove of the stick-slip drive fixed base 52 through the compliant mechanism fixing screw 66.

[0071] S2, inputting a sawtooth wave excitation voltage signal to the piezoelectric inchworm drive 65 to realize linear driving in a corresponding direction and inchworm driving.

[0072] In some embodiments of the present application, the sawtooth wave excitation voltage signal adjusts the motion speed, motion direction and motion resolution of the cross-roller slide by adjusting the duty cycle, frequency, voltage amplitude and other parameters.

[0073] The single-degree-of-freedom inchworm drive and the mounting method provided by the foregoing embodiments of the present application have the following advantages: the pre-tightening force adjustment hole is arranged on the compliant mechanism, the compliant mechanism is pre-mounted in the mounting groove of the fixed base through the pre-tightening force displacement adjustment bolt, the initial displacement between the inchworm drive and the lower plane of the cross-roller slide can be adjusted by adjusting the assembly depth of the pre-tightening force displacement adjustment bolt in the pre-tightening force displacement adjustment hole of the fixed base, the pre-tightening force of the compliant mechanism can be adjusted through the initial displacement under the adaptation of the flexible contact cantilever beam, the second inchworm drive fixing hole is further arranged on the compliant mechanism, and the inchworm drive can be integrally fixed in the mounting groove of the fixed base through the set screw. The inchworm drive and the fixed base do not have specific requirements on the configuration and the specific shape, the inchworm drive is convenient to mount, the inchworm drive can be conveniently mounted and replaced, and the single-degree-of-freedom inchworm drive and the mounting method have the advantages of high flexibility and low cost.

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

Claims

1. A single degree of freedom stick-slip drive, characterized by The stick-slip drive device comprises a fixed base and a stick-slip drive device which is detachably fixed on the fixed base. The fixed base is provided with a mounting groove, and the fixed base is provided with a pre-tightening force displacement adjusting hole and a first stick-slip drive fixing hole. The stick-slip drive device comprises a compliant mechanism and a piezoelectric ceramic drive, the compliant mechanism comprises a base, an amplification mechanism and a flexible contact beam on the base, the piezoelectric ceramic drive outputs displacement of the flexible contact beam through the amplification mechanism, the flexible contact beam is used for outputting displacement to a displacement output structure, and the base is provided with a pre-tightening force adjusting through hole and a second stick-slip drive fixing hole. The amplification mechanism comprises a rhombic amplification mechanism and a lever amplification mechanism, the compliant mechanism further comprises a rotary compliant hinge and a lever amplification mechanism rotary hinge, the piezoelectric ceramic drive is located in the interior of the rhombic amplification mechanism, the rhombic amplification mechanism and the rotary compliant hinge are connected in series, the lever amplification mechanism rotary hinge and the lever amplification mechanism are connected in series, and the series-connected rhombic amplification mechanism and rotary compliant hinge and the series-connected lever amplification mechanism rotary hinge, lever amplification mechanism and flexible contact beam are connected in parallel in structure. During installation, the pre-tightening force adjusting through hole on the base is opposite to the pre-tightening force displacement adjusting hole and cooperates with the pre-tightening force displacement adjusting part, the initial displacement between the stick-slip drive device and the displacement output structure is adjusted by adjusting the assembly depth of the pre-tightening force displacement adjusting part in the pre-tightening force displacement adjusting hole, and the second stick-slip drive fixing hole on the base is opposite to the first stick-slip drive fixing hole and cooperates with the fastener to fix the stick-slip drive device in the mounting groove.

2. The single degree of freedom stick-slip drive of claim 1, wherein, The displacement output structure is a cross roller slide rail.

3. The single degree of freedom stick-slip drive of claim 1, wherein, Further comprising a sample stage connected with the displacement output structure.

4. The single degree of freedom stick-slip drive of claim 1, wherein, The pre-tightening force displacement adjusting part is a bolt.

5. The single degree of freedom stick-slip drive of claim 1, wherein, The fastener is a bolt or a screw.

6. The single degree of freedom stick-slip drive of claim 1, wherein, A piezoelectric ceramic drive fastening screw mounting hole is formed on the base of the compliant mechanism and close to the piezoelectric ceramic drive, and the piezoelectric ceramic drive is fixed, pre-tightened, and force and displacement are transmitted by assembling the fastening screw.

7. The single degree of freedom stick-slip drive of any of claims 1-6, wherein, The piezoelectric ceramic drive of the stick-slip drive device generates force and displacement through an externally input sawtooth wave signal, and the compliant mechanism transmits the force and displacement generated by the piezoelectric ceramic drive to the displacement output structure.

8. The single degree of freedom stick-slip drive of claim 7, wherein, The sawtooth wave signal adjusts the movement speed, movement direction and movement resolution of the displacement output structure by adjusting the duty ratio, frequency and voltage amplitude.

9. A method of installing a stick-slip drive according to any one of claims 1 to 8, characterised in that, The method comprises the following steps: placing the stick-slip drive device in the mounting groove of the fixed base; inserting the pre-tightening force displacement adjusting part into the pre-tightening force adjusting through hole and the pre-tightening force displacement adjusting hole in sequence, adjusting the assembly depth of the pre-tightening force displacement adjusting part in the pre-tightening force displacement adjusting hole to adjust the initial displacement between the stick-slip drive device and the displacement output structure; inserting the fastener into the second stick-slip drive fixing hole and the first stick-slip drive fixing hole in sequence and tightening to fix the stick-slip drive device on the fixed base; during disassembly, the fastener is loosened first, and then the pre-tightening force displacement adjusting part is unscrewed.

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