Wang Zhenyu, Li Jun, Liu Wanbing, Jia Guanshuai, Wang Ban
School of Mechanical Engineering, Hangzhou Dianzi University Information Engineering College, Hangzhou 311305, China.
School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China.
Sensors (Basel). 2024 Feb 24;24(5):1470. doi: 10.3390/s24051470.
Multi-degree-of-freedom piezoelectric motors have the advantages of high torque and resolution, simple structure, and direct drive, which are widely used in robot wrist joints, deep-sea mechanisms, medical equipment, and space mechanisms. To solve the problems of high force/torque coupling degree and ball low stator and rotor bonding strength of the traditional traveling wave type three-degree-of-freedom piezoelectric spherical motor, a new structure of ball-hinged piezoelectric spherical motor is proposed. Through coordinate transformation and force analysis, the driven mathematical model of the spherical motor is given. The model shows that the three degrees of freedom of the motor are coupled with each other. According to the mathematical model of the spherical motor, the mechanical properties of the motor are analyzed by the computer simulation. The results show that the stalling torque coefficient has a linear relationship with the friction coefficient and the stator preload , has a nonlinear relationship with the stator radius and the rotor radius , and increases with the increase of and decreases with the increase of . The no-load speed of motor is not related to the friction coefficient and the stator preload , and increases with the increase of and decreases with the increase of . The anisotropic characteristics of torque and speed of a spherical motor are further analyzed, which lays a theoretical foundation for the drive control of a spherical motor.
多自由度压电电机具有高转矩、高分辨率、结构简单和直接驱动等优点，广泛应用于机器人腕关节、深海机构、医疗设备和空间机构中。为了解决传统行波型三自由度压电球形电机力/转矩耦合度高、球定子与转子粘结强度低等问题，提出了一种新型球铰压电球形电机结构。通过坐标变换和受力分析，给出了球形电机的驱动数学模型。该模型表明电机的三个自由度相互耦合。根据球形电机的数学模型，通过计算机仿真分析了电机的力学性能。结果表明，堵转转矩系数与摩擦系数和定子预紧力呈线性关系，与定子半径和转子半径呈非线性关系，随摩擦系数的增大而增大，随定子半径的增大而减小。电机的空载转速与摩擦系数和定子预紧力无关，随转子半径的增大而增大，随定子半径的增大而减小。进一步分析了球形电机转矩和转速的各向异性特性，为球形电机的驱动控制奠定了理论基础。
