Precision micro-manipulation tasks demand high-speed motion but low driving frequency for stick-slip actuators to achieve efficient operation and reduce friction wear. This paper presents a novel parasitic-type linear stick-slip actuator with macro fiber composites (MFCs). Unlike conventional piezoelectric actuators, the proposed stick-slip actuator has large single-step displacements and high motion consistency. It can realize high-speed motion under low driving frequency due to the superior properties of MFCs and the dual-drive method with a single driving foot. The actuator is devised based on a multi-beam-compliant driving mechanism, a pair of MFCs, and a slider. Also, an electromechanical dynamic model is proposed. A switching control strategy guarantees high positioning accuracy under large strokes. Finally, an experimental system is built. The single-step displacement can reach 367.7 μm with the dual-drive method. The actuator still has an effective stepping displacement of 63.4 μm even with a load of 2.1 kg. The maximal speed is 131.80 mm/s at a working frequency of 450 Hz. Thus, the actuator can realize mm/s motion with several Hertz driving voltages. Moreover, the maximum forward-reverse deviation only accounts for 1.31 % for a 2504 μm motion range, and the closed-loop motion resolution is 1.970 nm. Experiments verify the effectiveness and performance of the designed MFC stick-slip actuator.

精密微操纵任务需要粘滑执行器高速运动但驱动频率低，以实现高效运行并减少摩擦磨损。本文提出了一种采用粗纤维复合材料（MFC）的新型寄生型线性粘滑执行器。与传统的压电执行器不同，所提出的粘滑执行器具有大的单步位移和高运动一致性。由于MFC的优越性能和单驱动脚的双驱动方式，它可以在低驱动频率下实现高速运动。该执行器是基于多梁驱动机构、一对 MFC 和滑块而设计的。此外，还提出了机电动力学模型。切换控制策略保证大行程下的高定位精度。最后搭建了实验系统。采用双驱动方式，单步位移可达367.7 μm。即使负载为 2.1 kg，执行器仍具有 63.4 μm 的有效步进位移。工作频率为450 Hz时，最大速度为131.80 mm/s。因此，执行器可以在几个赫兹的驱动电压下实现毫米/秒的运动。此外，在2504μm运动范围内，最大正反向偏差仅占1.31%，闭环运动分辨率为1.970nm。实验验证了所设计的MFC粘滑执行器的有效性和性能。