Experimental Verification of a Two-Degree-of-Freedom Resonant Actuator Using Its Detent Force

Abstract

This study aims to present a new two-degree-of-freedom resonant actuator and its motion control method. Accordingly, the design method for this resonant actuator that resonates using its detent force without mechanical spring is proposed. In this actuator, a centering force is generated according to the moving distance, regardless of the moving direction on the X-Y plane. Using this feature, various resonance motions on the X-Y plane can be realized. This study also proves that the reciprocating motion, elliptical motion, and scroll motion can be controlled. The results of finite element analysis support the characteristics of the proposed actuator, which were compared to the results of measurements on a prototype. Finally, the effectiveness of motion control was validated through the prototype.