Novel actuator design to overcome stiction and backlash for low-velocity applications
Sharkey, P. M. and Taylor, P. (2003) Novel actuator design to overcome stiction and backlash for low-velocity applications. In: Parkin, R. M., AlHaibeh, A. and Jackson, M. R. (eds.) ICOM 2003: International Conference on Mechatronics. Professional Engineering Publishing Ltd, pp. 327-332. ISBN 1860584209
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This paper presents a novel actuator design that ameliorates or eliminates the effects of non-linearities that are characteristically present in geared actuator systems and which are very problematic for low velocity applications. The design centres on the providing an internal rotational element within a single actuator to ensure operation of actuator away from the stiction region, whilst allowing zero velocity external output of the actuator. The construction has the added advantage of substantially reducing backlash. The prototype comprises two commercially available servo-actuators to test the principle of operation and results presented indicate that the concept is worth exploring further.
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