{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T16:08:26Z","timestamp":1753891706931,"version":"3.41.2"},"reference-count":13,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2025,5,15]],"date-time":"2025-05-15T00:00:00Z","timestamp":1747267200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Neurorobot."],"abstract":"<jats:sec><jats:title>Introduction<\/jats:title><jats:p>Traditional positioning and pointing mechanisms often face limitations in simultaneously achieving high speed and high resolution, and their travel range is typically constrained. To overcome these challenges, we propose a novel positioning and pointing mechanism driven by piezoelectric ceramics in this study. This mechanism is capable of achieving both high speed and high resolution by using two driving principles: resonance and stick\u2013slip. This paper will focus on analyzing the stick\u2013slip driving principle.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>We propose a configuration of the drive module within the positioning and pointing mechanism. By applying a low-frequency sawtooth wave excitation to the piezoelectric ceramics, the mechanism achieves high resolution based on the stick\u2013slip driving principle. First, a simplified dynamic model of the drive module is established. The motion process of the drive module in stick\u2013slip driving is divided into the stick phase and slip phase. With static and transient dynamic analyses conducted for each phase, the relationship between the output shaft angle, resolution, and driving voltage is derived. It is observed that during the stick phase, the output shaft angle and the driving voltage exhibit an approximately linear relationship, while in the slip phase, the output shaft angle and the driving voltage display nonlinearity due to impact forces and vibrations. Finally, a prototype of the positioning and pointing mechanism is designed, and an experimental platform is constructed to test the resolution of the prototype.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>We construct a prototype of a dual-axis positioning and pointing mechanism composed of multiple drive modules and conduct resolution tests using two control methods: synchronous control and independent control. When synchronous control is used, the output shaft achieves a resolution of 0.38<jats:italic>\u03bcrad<\/jats:italic>, while with independent control, the resolution of the output shaft reaches 0.0276<jats:italic>\u03bcrad<\/jats:italic>.<\/jats:p><\/jats:sec><jats:sec><jats:title>Discussion<\/jats:title><jats:p>The research results show that the positioning and pointing mechanism proposed in this study achieves high resolution through stick\u2013slip driving principle, offering a novel approach for the advancement of such mechanisms.<\/jats:p><\/jats:sec>","DOI":"10.3389\/fnbot.2025.1567291","type":"journal-article","created":{"date-parts":[[2025,5,15]],"date-time":"2025-05-15T05:30:04Z","timestamp":1747287004000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Analysis and experiment of a positioning and pointing mechanism based on the stick\u2013slip driving principle"],"prefix":"10.3389","volume":"19","author":[{"given":"Yongqi","family":"Zhu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juan","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jianbin","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Weida","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gai","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lining","family":"Sun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1965","published-online":{"date-parts":[[2025,5,15]]},"reference":[{"key":"ref1","doi-asserted-by":"publisher","first-page":"333","DOI":"10.1007\/s11801-016-6147-6","article-title":"Design and performance test of a two-axis fast steering mirror driven by piezoelectric actuators","volume":"12","author":"Fang","year":"2016","journal-title":"Optoelectron. Lett."},{"key":"ref2","doi-asserted-by":"publisher","first-page":"115568","DOI":"10.1016\/j.sna.2024.115568","article-title":"Rate-dependent hysteresis modeling and compensation for fast steering mirrors","volume":"376","author":"Hao","year":"2024","journal-title":"Sensors Actuators A Phys."},{"key":"ref3","doi-asserted-by":"publisher","first-page":"6775","DOI":"10.3390\/s24216775","article-title":"System integration Design of High-Performance Piezo-Actuated Fast-Steering Mirror for laser beam steering system","volume":"24","author":"Kim","year":"2024","journal-title":"Sensors"},{"volume-title":"An advanced fast steering mirror for optical communication","year":"2007","author":"Kluk","key":"ref4"},{"key":"ref5","doi-asserted-by":"publisher","first-page":"246","DOI":"10.3390\/act13070246","article-title":"Research on micro\u2212\/nano-positioning system driven by a stepper motor","volume":"13","author":"Liu","year":"2024","journal-title":"Actuators"},{"key":"ref6","doi-asserted-by":"publisher","first-page":"2461","DOI":"10.1109\/TASE.2021.3085481","article-title":"Development and testing of a large-stroke nanopositioning stage with linear active disturbance rejection controller","volume":"19","author":"Tang","year":"2021","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"ref7","doi-asserted-by":"publisher","first-page":"104511","DOI":"10.1016\/j.mechmachtheory.2021.104511","article-title":"A novel friction-actuated 2-DOF high precision positioning stage with hybrid decoupling structure","volume":"167","author":"Tian","year":"2022","journal-title":"Mech. Mach. Theory"},{"key":"ref8","doi-asserted-by":"publisher","first-page":"024102","DOI":"10.1117\/1.OE.61.2.024102","article-title":"Design of a fast steering mirror driven by piezoelectric ceramics","volume":"61","author":"Wan","year":"2022","journal-title":"Opt. Eng."},{"key":"ref9","doi-asserted-by":"publisher","first-page":"125003","DOI":"10.1063\/5.0124203","article-title":"Robust finite-time adaptive control for high performance voice coil motor-actuated fast steering mirror","volume":"93","author":"Wang","year":"2022","journal-title":"Rev. Sci. Instrum."},{"key":"ref10","doi-asserted-by":"publisher","first-page":"713","DOI":"10.3390\/mi14040713","article-title":"Design and parameter identification for a positioning platform with a large stroke and high precision for segmented mirrors","volume":"14","author":"Yin","year":"2023","journal-title":"Micromachines"},{"key":"ref11","doi-asserted-by":"publisher","first-page":"054106","DOI":"10.1117\/1.OE.61.5.054106","article-title":"Modeling and designing a hybrid reluctance actuator for fast-steering mirror","volume":"61","author":"Zhang","year":"2022","journal-title":"Opt. Eng."},{"key":"ref12","doi-asserted-by":"publisher","first-page":"473","DOI":"10.1007\/s12541-020-00459-w","article-title":"A small bipedal trans-scale precision positioning stage based on inertial stick-slip driving","volume":"22","author":"Zhang","year":"2021","journal-title":"Int. J. Precis. Eng. Manuf."},{"key":"ref13","doi-asserted-by":"publisher","first-page":"3713","DOI":"10.1007\/s00542-018-04286-y","article-title":"A large thrust trans-scale precision positioning stage based on the inertial stick\u2013slip driving","volume":"25","author":"Zhong","year":"2019","journal-title":"Microsyst. Technol."}],"container-title":["Frontiers in Neurorobotics"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fnbot.2025.1567291\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,15]],"date-time":"2025-05-15T05:30:05Z","timestamp":1747287005000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fnbot.2025.1567291\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,15]]},"references-count":13,"alternative-id":["10.3389\/fnbot.2025.1567291"],"URL":"https:\/\/doi.org\/10.3389\/fnbot.2025.1567291","relation":{},"ISSN":["1662-5218"],"issn-type":[{"type":"electronic","value":"1662-5218"}],"subject":[],"published":{"date-parts":[[2025,5,15]]},"article-number":"1567291"}}