Compact versatile stick-slip piezoelectric motor

A motion control system comprising:

• a base;
• a stage supported by the base and movable with respect to the base;
• a motor coupled to the base and operable to move the stage, the motor including:
• a mounting base arranged to connect the motor to the base;
• a friction pad engageable with the stage;
• a coupling portion including a first end connected to the mounting base and a second end, the friction pad connected to the coupling portion between the first end and the second end;
• and
• a piezoelectric element disposed between the mounting base and the second end and operable in response to an electrical signal to move the friction pad and the stage;
• and
• a preload member including a motor end and an adjustment end, the motor end in contact with the motor and movable to apply a variable preload force to the motor, the adjustment end positioned to be accessible from an exterior of the base and substantially flush with the base.