光学精密工程2025，Vol.33Issue(1)：96-106,11.DOI:10.37188/OPE.20253301.0096
面向柔性钳位型尺蠖致动器提速驱动的协同切换控制
Collaborative switching control for improved-speed driving of flexible clamp-type inchworm actuator
摘要
Abstract
This study explores the clamping-driving coordination mechanism and control strategies for a flexible clamp-type inchworm actuator,introducing an innovative high-speed clamping switching method based on real-time clamping state information.By utilizing the parasitic motion characteristics of the flexi-ble clamping mechanism,the proposed strategy minimizes clamping alternation time,thereby achieving higher driving speeds under identical design parameters.A static model of the parasitic motion of the clamping mechanism was first established based on the actuator's configuration and verified through simula-tions.The real-time clamping switching mechanism was subsequently analyzed,leading to the develop-ment of a driving strategy incorporating real-time clamping state feedback.An experimental setup was con-structed to validate the theoretical model and simulation results.Experimental findings demonstrate that the proposed strategy reduces single-step switching time by 28%and increases continuous multi-step driv-ing speed by 25%under the same design and driving voltage conditions.These results confirm the accura-cy of the theoretical and simulation analyses within an acceptable margin of error.The proposed strategy significantly reduces the single-cycle operating time of the inchworm actuator,enabling continuous and sta-ble actuation while substantially enhancing driving performance.关键词
柔顺机构/尺蠖致动器/寄生运动/协同切换控制Key words
flexible mechanism/inchworm actuator/parasitic movement/collaborative switching control分类
机械工程引用本文复制引用
孟令臣,闫鹏,刘鹏博,张志名..面向柔性钳位型尺蠖致动器提速驱动的协同切换控制[J].光学精密工程,2025,33(1):96-106,11.基金项目
山东省自然科学基金重大基础研究项目(No.ZR2019ZD08) （No.ZR2019ZD08）
山东省重点研发计划(重大科技创新工程)资助项目(No.2023CXGC010207) （重大科技创新工程）
