Čeponis Andrius, Mažeika Dalius, Jūrėnas Vytautas, Deltuvienė Dovilė, Bareikis Regimantas
Department of Electrical and Electronics Engineering, Technical Faculty, Vilnius College of Technologies and Design, Olandų Str. 16, LT-10223 Vilnius, Lithuania.
State Key Laboratory of Mechanics and Control of Mechanical Structures, College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
Micromachines (Basel). 2022 Oct 18;13(10):1763. doi: 10.3390/mi13101763.
This paper provides numerical and experimental investigations of a ring-shaped piezoelectric 5-DOF robot that performs planar and angular motions of spherical payload. The robot consists of a piezoelectric ring glued on a special stainless-steel ring with three spikes oriented in the radial direction of the ring. The spherical payload is placed on top of the piezoelectric ring and is moved or rotated when a particular excitation regime is used. An alumina oxide ball is glued at the end of each spike of the steel ring and is used as contacting element. The spikes are used to transfer vibrations of the piezoelectric ring to contacting elements and to induce the planar motion of the payload. Additionally, three alumina oxide balls are glued on the top surface of the piezoelectric ring and are used to generate rotational motion of the spherical payload by impacting it. Finally, the top electrode of the piezoceramic ring is divided into six equal sections and is used to control the direction of angular and planar motion of the payload. Numerical modeling of the robot showed that vibration modes suitable for angular and planar motions are obtained at a frequency of 28.25 kHz and 41.86 kHz, respectively. Experimental investigation showed that the maximum angular velocity of the payload is 30.12 RPM while the maximum linear motion of the robot is 29.34 mm/s when an excitation voltage of 200 V was applied and a payload of 25.1 g was used.
本文对一种环形压电五自由度机器人进行了数值和实验研究，该机器人可对球形负载进行平面运动和角向运动。该机器人由一个粘贴在特殊不锈钢环上的压电环组成，不锈钢环上有三个沿环径向排列的尖刺。球形负载放置在压电环顶部，当采用特定的激励方式时，负载会发生移动或旋转。在钢环每个尖刺的末端粘贴一个氧化铝球，用作接触元件。尖刺用于将压电环的振动传递到接触元件，并引起负载的平面运动。此外，在压电环的顶面上粘贴三个氧化铝球，通过撞击球形负载来产生其旋转运动。最后，压电陶瓷环的顶部电极被分成六个相等的部分，用于控制负载角向运动和平动的方向。对该机器人的数值模拟表明，分别在28.25 kHz和41.86 kHz的频率下可获得适合角向运动和平动的振动模式。实验研究表明，当施加200 V的激励电压并使用25.1 g的负载时，负载的最大角速度为30.12 RPM，机器人的最大直线运动速度为29.34 mm/s。
