A novel hybrid actuation mechanism based XY nanopositioning stage with totally decoupled kinematics

Wu Le Zhu, Zhiwei Zhu*, Ping Guo, Bing Feng Ju

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

94 Scopus citations


This paper reports the design, analysis and testing of a parallel two degree-of-freedom piezo-actuated compliant stage for XY nanopositioning by introducing an innovative hybrid actuation mechanism. It mainly features the combination of two Scott–Russell and a half-bridge mechanisms for double-stage displacement amplification as well as moving direction modulation. By adopting the leaf-type double parallelogram (LTDP) structures at both input and output ends of the hybrid mechanism, the lateral stiffness and dynamic characteristics are significantly improved while the parasitic motions are greatly eliminated. The XY nanopositioning stage is constructed with two orthogonally configured hybrid mechanisms along with the LTDP mechanisms for totally decoupled kinematics at both input and output ends. An analytical model was established to describe the complete elastic deformation behavior of the stage, with further verification through the finite element simulation. Finally, experiments were implemented to comprehensively evaluate both the static and dynamic performances of the proposed stage. Closed-loop control of the piezoelectric actuators (PEA) by integrating strain gauges was also conducted to effectively eliminate the nonlinear hysteresis of the stage.

Original languageEnglish (US)
Pages (from-to)747-759
Number of pages13
JournalMechanical Systems and Signal Processing
StatePublished - Jan 15 2018


  • Decoupled kinematics
  • Finite element analytical model
  • Hybrid actuation mechanism
  • Nanopositioning stage
  • Piezoelectric actuator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Civil and Structural Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Computer Science Applications


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