Ye Zilong, Zhou Chunhua, Jin Jiamei, Yu Pengpeng, Wang Fangyi
State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
Shanghai Institute of Satellite Engineering, China Aerospace Science and Technology Corporation, Shanghai 200240, China.
Ultrasonics. 2019 Jul;96:90-95. doi: 10.1016/j.ultras.2019.02.007. Epub 2019 Feb 21.
A new type of ring (joint)-beam (arm) element based on piezoelectric actuator is designed in this paper. By using piezoelectric ceramics, the vibration modes of two parallel beams are excited and coupled to form in-plane waves on the ring. As the piezoelectric actuator has the dual effect of acting as the power source and the main body structure of the arm joint, compared with the rotating joint using DC motor as the power source, the actuator does not need additional space to install the motor, which makes joint mechanism have the advantages of simple structure and small volume. Furthermore, the micro-displacement control of joints can be achieved by the characteristics of fast response and power self-locking based on the friction driving principle. A two-degree-of-freedom three-arm prototype of the joint mechanism is designed to obtain the parameters of the piezoelectric actuator and carry out related experiments. The prototype of the mechanism is 72 g in weight and 105 mm in length, and the maximum rotation angle of each joint is 210 deg. The experimental results indicate that, when driving frequency is 58.6 kHz and the driving voltage is 300 Vpp, the angular speed of the prototype reaches 45.9 deg/s, the resolution is 0.015 deg and the startup and shutdown response time are 35 ms and 21 ms, respectively. Due to its simple and compact structure, the manipulator have strong growth potential for meeting the requirements of wet hyperbaric environment. The characteristics of fast response time and high resolution enable good mobility and high precision.
本文设计了一种基于压电驱动器的新型环形（关节）-梁（臂）元件。通过使用压电陶瓷，激发并耦合两根平行梁的振动模式，在环上形成面内波。由于压电驱动器兼具动力源和臂关节主体结构的双重作用，与以直流电机为动力源的旋转关节相比，该驱动器无需额外空间安装电机，使得关节机构具有结构简单、体积小的优点。此外，基于摩擦驱动原理，利用其快速响应和动力自锁的特性可实现关节的微位移控制。设计了一种两自由度三臂关节机构原型，以获取压电驱动器的参数并进行相关实验。该机构原型重量为72克，长度为105毫米，每个关节的最大旋转角度为210度。实验结果表明，当驱动频率为58.6千赫兹、驱动电压为300Vpp时，原型的角速度达到45.9度/秒，分辨率为0.015度，启动和关闭响应时间分别为35毫秒和21毫秒。由于其结构简单紧凑，该机械手在满足湿式高压环境要求方面具有很强的发展潜力。快速的响应时间和高分辨率特性使其具有良好的机动性和高精度。
