论文部分内容阅读
提出一种基于惯性冲击驱动原理的新颖微型压电旋转关节,用于关节臂式多自由度定位操作系统的旋转关节驱动.该旋转关节采用对称的整体结构设计,利用压电堆产生驱动力矩,通过碟形弹簧调整预紧力,具有运行稳定、驱动力矩大、易于微型化等优点.建立了该机构驱动模块的结构模型,运用ANSYS软件分析了定子结构的静态变形和固有振动特性;建立了该机构的动力学模型,应用MATLAB/Simulink软件获得了旋转轴的粘滑运动和步进位移特性.仿真结果表明,该压电旋转关节具有较好的步进位移输出能力和较宽工作频率范围,在1 000 V/mm激励电场下,步进位移达到0.07°,稳定的粘滑工作频率达到1 000 Hz以上.
A novel micro-piezoelectric rotary joint based on the principle of inertial impact drive is proposed for the rotary joint drive of articulated arm multi-DOF positioning and operating system. The rotary joint adopts the symmetrical overall structure design, uses the piezoelectric stack to generate the driving torque, The pre-tightening force is adjusted by the disc spring, which has the advantages of stable operation, large driving torque, easy miniaturization, etc. The structural model of the driving module of the mechanism is established, and the static deformation and natural vibration characteristics of the stator structure are analyzed by ANSYS software. The kinematic model of this mechanism was obtained by using MATLAB / Simulink software.The sticking-sliding and step-shifting characteristics of the rotating shaft were obtained.The simulation results show that the piezoelectric rotating joint has good capability of step displacement output and wide operating frequency range , The step displacement reaches 0.07 ° under 1 000 V / mm excitation electric field, and the stable stick-slip operating frequency reaches above 1 000 Hz.