受蚯蚓启发的带有挠曲铰链机构的粘滑型压电致动器的设计与评估

Design and evaluation of a stick-slip piezoelectric actuator with flexure hinge mechanism inspired by the earthworm.

作者信息

Wang Heran, Su Donghao, Wang Liang

机构信息

School of Mechanical Engineering, Northeast Electric Power University, Jilin 132012, China.

出版信息

Rev Sci Instrum. 2023 Aug 1;94(8). doi: 10.1063/5.0157803.

DOI:10.1063/5.0157803

PMID:37526519

Abstract

In this work, a new bionic piezoelectric actuator inspired by the earthworm is proposed, fabricated, and tested. The operating principle of the actuator imitates the crawling motion of the earthworm. The piezoelectric stack is embedded in the stator with a flexure hinge mechanism. One side of the stator is inspired by the earthworm body. Then the elongation of the piezoelectric stack is transmitted to the driving tip to produce oblique displacement under such a stator. The vertical and horizontal components are used to press and drive the slider, respectively. The principle of the proposed actuator is described in detail. The static deformation is investigated by the FEM method. A dynamic model of the actuator is developed to further reveal the motion characteristics of the slider via theoretical analysis. Finally, the output characteristics of the proposed BPA are tested. The experimental results show that the actuator achieves a maximum output speed of 12.72 mm/s at a voltage of 100 V and a frequency of 710 Hz. The maximum output force is 3 N under a locking force of 2 N. Besides, the displacement resolution is tested at 87 nm at a frequency of 710 Hz, which indicates that the developed actuator can be applied in the field of precision actuation.

摘要

在这项工作中，提出、制造并测试了一种受蚯蚓启发的新型仿生压电致动器。该致动器的工作原理模仿了蚯蚓的爬行运动。压电叠堆通过挠性铰链机构嵌入定子中。定子的一侧受蚯蚓身体启发。然后，压电叠堆的伸长传递到驱动尖端，在这样的定子下产生倾斜位移。垂直和水平分量分别用于挤压和驱动滑块。详细描述了所提出的致动器的原理。通过有限元方法研究了静态变形。建立了致动器的动力学模型，通过理论分析进一步揭示滑块的运动特性。最后，测试了所提出的仿生压电致动器的输出特性。实验结果表明，该致动器在100 V电压和710 Hz频率下实现了12.72 mm/s的最大输出速度。在2 N的锁定力下，最大输出力为3 N。此外，在710 Hz频率下测试的位移分辨率为87 nm，这表明所开发的致动器可应用于精密驱动领域。