A Compact Spatial Pose Adjustment Mechanism Driving by Stick-Slip

In applications such as automated micro-assembly, 3D visual reconstruction of tiny targets, and optical fiber docking, there is an urgent need for mechanisms with large spatial posture adjustment capabilities and high precision. To simultaneously achieve high positioning accuracy and miniaturization, a stick-slip actuator-based spatial attitude adjustment mechanism is proposed in this paper. Firstly, the main components and working principle of the posture adjustment mechanism are introduced. Afterward, the static and dynamic characteristics of the compliant amplifying structure, the core unit of the mechanism, are analyzed, including its dynamic response time and natural frequency. Finally, an experimental system is built, and the main performance of the proposed simple stick-slip actuator is tested, including the driving speed, driving frequency, and preload.