Design, Analysis and Experimental Performance of a Bionic Piezoelectric Rotary Actuator
Design, Analysis and Experimental Performance of a Bionic Piezoelectric Rotary Actuator
复制标题
仿生压电旋转执行器的设计、分析及实验性能
DOI：
10.1016/s1672-6529(16)60403-1
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发表时间：
2017-04-01
影响因子：
4
通讯作者：
Sun, Lining
中科院分区：
文献类型：
--
作者：
Wang, Shupeng;Rong, Weibin;Sun, Lining
本文研究了一种压电旋转驱动器，该驱动器配备了仿蜈蚣足的仿生驱动机构。详细介绍了系统的组成和工作原理。建立了运动模型，分析了作动器的运动。我们建立了一套实验系统，并进行了相应的实验来评估原型的特性。结果表明，该样机可逐步稳定运行，各步骤重现性高。正反向行驶分辨率分别为2.31 mu rad和1.83 mu rad。样机还可以输出相对精确的圆周运动，正向和反向最大输出扭矩分别为76.4 Nmm和70.6 Nmm。在1hz驱动频率下，驱动电压为120v时，前后方向最大角速度分别为1029.3 μ rad中心点s（-1）和1165 μ rad中心点s（-1）。在60 V驱动电压下，当驱动频率为1024 Hz时，前后运动角速度可达235100亩弧度中心点s（-1）和153650亩弧度中心点s（-1）。通过选择合适的驱动电压和频率，可以获得满意的角速度。
This study presents a piezoelectric rotary actuator which is equipped with a bionic driving mechanism imitating the centipede foot. The configuration and the operational principle are introduced in detail. The movement model is established to analyze the motion of the actuator. We establish a set of experimental system and corresponding experiments are conducted to evaluate the characteristics of the prototype. The results indicate that the prototype can be operated stably step by step and all steps have high reproducibility. The driving resolutions in forward and backward motions are 2.31 mu rad and 1.83 mu rad, respectively. The prototype can also output a relatively accurate circular motion and the maximum output torques in forward and backward directions are 76.4 Nmm and 70.6 Nmm, respectively. Under driving frequency of 1 Hz, the maximum angular velocities in forward and backward directions are 1029.3 mu rad center dot s(-1) and 1165 mu rad center dot s(-1) when the driving voltage is 120 V. Under driving voltage of 60 V, the angular velocities in forward and backward motions can be up to 235100 mu rad center dot s(-1) and 153650 mu rad center dot s(-1) when the driving frequency is 1024 Hz. We can obtain the satisfactory angular velocity by choosing a proper driving voltage and frequency for the actuator.