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Design and Control of an XY Precision Positioning System Using Impact Drive Mechanism


Ali Abdi*   Pages 1 - 13 ( 13 )


Background: Demands for Precise positioning systems are dramatically increasing in various fields. Therefore, finding problems of these systems and solving them is very important. In this regard, scholars have tried to detect challenges with which precision positioners are faced. Some most important problems introduced by scholars are: short stroke, low dexterity, complicated structure, lack of compact size, low output force, low response, low resolution, etc.

Methods: This paper presents an XY precision positioning system that the Impact Drive Mechanism (IDM) is used as the positioning system itself. This system is designed based on microscale steps of IDM which its Piezoelectric Actuator (PEA) is driven by saw-tooth shaped voltage pulses. Although IDM can solve aforementioned problems, it has nonlinear equations which may make a big challenge in its control. Therfore, this study presents a fuzzy controller that is capable to work well in such complex systems. Although using fuzzy controllers is very useful, it requires more computation time and cost. Thus, a square root controller is proposed in order to reduce them.

Results: Results show that although the square root controller has the same result, it needs less computation time and cost than the fuzzy controller does.

Conclusion: In conclusion, in this new design of the positioner, using a square root controller is more efficient and economical than the fuzzy one.


Fuzzy Controller, impact drive mechanism, saw-tooth signal, square root controller, stick-slip based actuator, two-dimensional positioning.


Department of Mechanical Engineering, University of Tehran, Tehran

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