I. Introduction
INCHWORM
Inchworm is a registered trademark of Burleigh Instruments, Inc.
actuators are devices that achieve long-range motion by rapidly repeating a clamp-extend-clamp cycle [1]. They typically use two piezoelectric actuators for two clamp sections and a third one for the extender section [2]. Magnetostrictive [3], electrostrictive [4], or electrostatic [5] actuation has also been proposed for the clamp or extender sections. In the coarse positioning mode, the clamp and extender sections are activated in the required sequence by a three-channel controller. A fine positioning mode can also be realized by activating the extender section under continuous feedback control while one clamp is on and the other is released [2]. The specific form and timing of the waveforms for each actuator can influence the inchworm performance [6]–[8].