| 摘要 |
An actuator has teeth for providing large forces to an object to be moved without experiencing slipping or sliding on the surfaces of the actuator or object. The actuator moves in smooth walking cyclic steps, first engaging the object by meshing the actuator's teeth with the teeth of the object, while moving at the same speed as the object, moving the object, retracting from the object while moving at the same speed as the object, and then retracing to its beginning position for starting a new cycle. The controller for the actuator obtains information about the relative position of the teeth for smoothly meshing the teeth and moving the object. The controller precisely moves the actuator for proper tooth meshing by using mechanical summing of actuator layers, each receiving electrical impulses of a precise number of waves of a known wave form. The controller continuously provides the desired wave form which can be switched between the actuator and an impedance which acts as if it were the actuator, including work readiness. The switching provides a triggered start of the waves to the actuator layers. The switch is thrown again when the wave count is reached which indicates the end of an actuator cycle. This system provides sudden actuator motion to start and stop the actuator and provides precision position and cycle control.
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