Patent ID: 6583637
Filing Date: 2003-06-24
Classification: H02K

Abstract:
An actuator comprising:a contact part which comes into contact with a workpiece; a movable part for supporting the contact part via an elastic member; and operating means which can control a thrust driving force to the movable part, wherein provided that F1max denotes the maximum impact load at a time of contact between the workpiece and the contact part and F2 denotes a spring reaction force of the elastic member within a response time tk of the actuator, a spring constant kb of the elastic member is set to satisfy the condition: F1max&gE;F2, wherein the operating means sequentially performs positional control so that the movable part is advanced to a position immediately before the contact part touches a workpiece, velocity control so that the movable part is advanced at a constant velocity from the position immediately before the contact to the contact position at which the contact part touches the workpiece, load control so that the movable part is further advanced while controlling the contact pressure between the contact part and the workpiece after the contact part touches the workpiece, and positional control so that the movable part is retracted so as to separate the contact part from the workpiece.