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Proceedings Paper

Stick and slip actuators (SSA)
Author(s): Carl Schmitt; Jean-Marc Breguet; Arvid Bergander; Reymond Clavel
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Paper Abstract

Stick and Skip Actuators (SSA) are particularly well adapted to micro- robotics. A simple design, a very high intrinsic resolution (a few nanometers) and a high rigidity make them especially interesting in high precision micro-manipulations. Moreover, a smart design allows to combine the guiding and actuating function. The mechanical interface between the piezo-elements and the guiding mechanisms in an important point of the stick and slip actuators. The design of this interface and the choice of the material are very important. Both aspects have an impact on the rigidity, which has an influence on the behavior of the actuator. They have also an incidence onf the reliability (lifetime) because the design gives the contact condition and the material the wear resistance. In addition, a loading system allowing to keep the mechanical contact at this interface has a direct effect on the contact pressure. In order to confirm the performance of SSA, prototypes have been developed at the ISR. Their designs have bene made for application in optical microscopy, for manipulators in industrial assembly of micro- engineering products, for micro-factory, chemical and bio-engineering equipment for research or routine tasks, such as testing, screening etc. This paper presents a short description of several SSA made by the IRS and describes the parameters characterizing the stick and slip motion and the mechanical interface.

Paper Details

Date Published: 11 October 2000
PDF: 10 pages
Proc. SPIE 4194, Microrobotics and Microassembly II, (11 October 2000); doi: 10.1117/12.403704
Show Author Affiliations
Carl Schmitt, Swiss Federal Institute of Technology/Lausanne (Switzerland)
Jean-Marc Breguet, Swiss Federal Institute of Technology/Lausanne (Switzerland)
Arvid Bergander, Swiss Federal Institute of Technology/Lausanne (Switzerland)
Reymond Clavel, Swiss Federal Institute of Technology/Lausanne (Switzerland)


Published in SPIE Proceedings Vol. 4194:
Microrobotics and Microassembly II
Bradley J. Nelson; Jean-Marc Breguet, Editor(s)

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