Development of New Types of Small-sized Light-weight Large-power Motors Composed of Strain Wave Gearing and Multi-layer Piezoelectric Devices

谐波齿轮与多层压电器件组成的新型小型轻量大功率电机的研制

• 批准号: 02650302
• 负责人: ISHIDA Muneaki
• 金额: $ 1.41万
• 依托单位: Mie University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1990
• 资助国家: 日本
• 起止时间: 1990 至 1991
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-02650302/
• 关键词: Multi-layer piezoelectric motor; Strain wave gearing; Piezoelectric motor; Low speed and large torque; Non-metal motor; 同期型圧電モ-タ; 摩擦型圧電モ-タ; 圧電アクチュエ-タ; 変位変換デバイス; 波動歯車; 圧電素子

In this study, three types (synchronous type, friction type, and resonant type) of low speed high torque piezo-electric motors composed of strain wave gearing and multi-layer piezoelectric devices were developed aiming at small-sized light-weight large-power actuators (motors) for servo drive. First, basic structure of the propoed motors and mechanism to enlarge displacement of the piezoelecitric devices were studied. Next, a driving circuit for the proposed motors was made taking characteristics of the piezoelectric devices, and characteristics of prototype piezo-electric motors were investigated experimentally, Finally the characteristics of the motors were discussed theoretically based on the experimental results. Moreover, prototype motors with plastics rotor and one with ceramics rotor were also examined and thier characteristics were compared with that of the motor with iron rotor.The results of this study are as follows ;(1) The synchronous type piezoelectric motor has thin teet … More h on its strain wave gearing and the rotational speed is precisely proportional to the driving frequency independently of the applied load torque if the torque is not so large. However, the maximum torque is much smaller than that expected from the characteristics of the piezoelectric devices.(2) Although the friction type piezoelectric motor has no teeth on its strain wave gearing, the rotational speed of the motor is approximately proportional to the driving frequency in the case that the axial force applied to the rotor is constant and the applied load torque is null. The speed decreases according as the load torque increases. The stall torque, at which the speed come to stop, is considerably large in the case that the axial force of the rotor is large. Consequently this type motor is confirmed to has the property of low speed and torque.(3) The resonant type piezoelectric motor has similar characteristics of the rotational speed versus the load torque to that of the friction type motor. This type of motor is expected to have high efficiency because it can operate at lower supply voltage than the friction type motor.(4) The piezoelectric motor are confirmed to operate in the case that their rotors are made of plastics or ceramics. This fact gives possibility to realize the light-weight motor. Less

本研究针对小型、轻量化、大功率的伺服驱动器(电机)，研制了由应变波齿轮和多层压电器件组成的三种低速大扭矩压电电机(同步型、摩擦型和谐振型)。首先，研究了双电机的基本结构和压电体放大位移的机理。其次，根据压电器件的特点制作了电机驱动电路，并对样机的特性进行了实验研究，最后在实验结果的基础上对电机的特性进行了理论分析。此外，还对塑料转子和陶瓷转子的原型电机进行了测试，并与铁转子电机的特性进行了比较。研究结果如下：(1)同步型压电电机具有较薄的TET…如果扭矩不是很大，则其应变波齿轮的转速与驱动频率成精确的正比，而与所施加的负载扭矩无关。虽然摩擦型压电电机的应变波齿轮上没有齿，但在转子所受轴向力恒定且负载扭矩为零的情况下，电机的转速与驱动频率近似成正比。转速随负载扭矩的增大而减小。在转子轴向力较大的情况下，使转速停止的失速扭矩相当大。谐振式压电电机与摩擦型电机具有相似的转速-负载扭矩特性。这种类型的电机可以在比摩擦型电机更低的电源电压下工作，因此有望具有较高的效率。(4)确定了压电式电机在其转子由塑料或陶瓷制成的情况下工作。这为实现电机的轻量化提供了可能。较少

项目成果

Muneaki Ishida,Junichi Hamaguchi,Keiichi Shirasuka and Takamas Hori: "A New FrictionーType Piezoelectric Motor Utilizing Mechanism of the Strain Wave Goring" Proc.of 16th Annual Coutereuce of the IEEE Industrial Electronics (IECO'90)(IEEE Trans.on IE). 119

Muneaki Ishida、Junichi Hamaguchi、Keiichi Shirasuka 和 Takamas Hori：“利用应变波 Goring 机制的新型摩擦型压电电机”Proc. 第 16 届 IEEE 工业电子年会 (IECO90)（IEEE Trans. on IE） ） 119

Muneaki Ishida, Junichi Hamaguchi, and Takamasa Hori: ""Principle and Operation of the New Type Motor Consisted of Piezo-Electric Device and Strain Wave Gearing (in Japanese)"" The transactions of the IEE of Japan. 110-D, No. 12. 1247-1256 (1990)

Muneaki Ishida、Junichi Hamaguchi 和 Takamasa Hori：“由压电器件和应变波齿轮组成的新型电机的原理和操作（日语）” 日本 IEE 的交易。

白須賀 恵一,石田 宗秋,堀 孝正: "摩擦型圧電モ-タの構造と特性" 平成2年電気学会産業応用部門全国大会. 215-218 (1990)

Keiichi Shirasuka、Muneaki Ishida、Takamasa Hori：“摩擦型压电电机的结构和特性”1990年日本电气工程师学会工业应用部门全国会议215-218（1990）。

Keiichi Shirasuka, Muneaki Ishida, and Takamasa Hori: ""Structure and Characteristics of the Friction-Type Piezo-Electric Motor (in Japanese)"" 1990 National Convention Record IEE Japan, -Industrial Application Society-. No. 52. 215-218 (1990)

Keiichi Shirasuka、Muneaki Ishida 和 Takamasa Hori：“摩擦型压电电机的结构和特性（日语）”1990 年全国大会记录 IEE 日本，-工业应用协会-。

石田 宗秋,浜口 純一,堀 孝正: "圧電素子と波動歯車装置を組み合わせた新型モ-タの原理と動作" 電気学会論文誌D. 110ー12. 1247-1256 (1990)

Muneaki Ishida、Junichi Hamaguchi、Takamasa Hori：“结合压电元件和波动齿轮装置的新型电机的原理和操作”IEEJ Transactions D. 110-1256 (1990)。