Development of 3 DOF Spherical Motor by Means of Walking Drive

研制了一种采用步进驱动的新型三自由度球面电机，并对其性能进行了测试。行走传动是本课题研究人员发明的一种利用压电作动器的新型传动机构。三对驱动单元，或总共六个驱动单元围绕一个直径3英寸的不锈钢su - j钢球，由三个支撑球支撑。每一对驱动单元握住球并在两个正交的方向上驱动球表面。通过将独立控制的三对驱动单元的驱动运动结合起来，球可以绕三个垂直轴旋转。由于每个压电致动器的行程有限，每一对驱动单元的驱动运动交替激活，使球的表面连续驱动。主要研究结果如下：设计并制作了三自由度球面电机样机。开发并实现了驱动球面电机驱动单元的计算机程序。对所研制的球形电机的性能进行了分析。一些典型的性能数据是最大旋转扭矩0.92 Nm，最大转速1.06°/ s，跟踪误差0.16 mdeg。

A new 3 degrees-of-freedom spherical motor driven by means of Walking Drive has been developed and its performances are examined. The Walking Drive is a new driving mechanism invented by the researchers of current project, which utilizes piezo-electric actuators. Three pairs of driving units, or total six driving units are arranged around a 3-inch diameter steel ball made of stainless steel SUS-J, which is supported by three supporting balls. Each pair of the driving units hold the ball and drive the ball surface in two orthogonal directions. The ball can be rotated around the three perpendicular axes by combining the driving motions of the three pairs of the driving units, which are controlled independently. As the stroke of each piezo-electric actuator is limited, the driving motion of each pair of the driving units is activated alternatively so that the surface of the ball can be driven continuously.Major results obtained are as follows :1. 3 DOF spherical motor has been designed and the prototype of the motor has been fabricated.2. The computer programs have been developed and implemented to drive the driving units of the spherical motor.3. The performances of the spherical motor developed have been analyzed. Some typical data of the performances are 0.92 Nm in maximum rotating torque, 1.06 degrees per second in the maximum rotational speed, and 0.16 mdeg in the tracking error.