High-Throughput Uniform Scanning of Stick-Slip Actuators With Optimal Smooth Trajectory

Achieving high-throughput uniform scanning of stick-slip actuators is challenging because the conventional sharp triangular trajectory can easily induce dynamic friction between the compliant mechanism and the end-effector, which can lead to scanning failures. To address these issues, this article proposes a smooth trajectory that integrates a linear rising edge for uniform sampling with a cubic B-spline curve for smooth transitions. By optimizing the parameters, the trajectory effectively minimizes peak acceleration and reduces high-frequency components, thereby enhancing both scanning throughput and accuracy. The experimental results demonstrated that the proposed trajectory yielded a scanning throughput 2.86 times greater than that achieved with the conventional triangular trajectory. Moreover, the proposed trajectory demonstrated superior accuracy in scanning across all tested frequencies. This advancement is significant for expanding the applications of stick-slip actuators in high-throughput scenarios.