【摘要】 压电行走机构是利用压电陶瓷逆压电效应和谐振特性,将电能转化为机械能的一种新型驱动装置。为避免惯性、摆动、两足移动式压电行走机构运动形式单一问题,研制了一种新型的压电行走机构振动测试系统。通过实验获得了驱动电压、谐振频率、负载载荷、振动角等诸多因素对机构行走速度和在沿行走方向上的驱动力的影响规律。分析显示,行走机构在滑移状态下,行走速度出现最大值,运行平稳;行走装置的后足设置行走轮时,行走状态最好。实验结果为压电行走机构驱动控制系统的设计提供了必要的数据依据。更多还原

【Abstract】 Piezoelectric walking mechanism is a new type of driven device which converts the electrical energy into mechanical energy using converse piezoelectric effect and resonance characteristics of piezoelectric ceramics.This paper is an effort to avoid the single movement form of inertia,swing,and two-legged piezoelectric walking mechanism by proposing a new type of piezoelectric vibration test systems.The experiments found the law governing the impact of driving voltage,resonant frequency,load,vibration angle,and other factors on mechanism walking speed and driving force along the walking direction.The analysis shows the walking mechanism has a maximum walking speed and smooth operation in the slip state,and the best operation when fitted with running gear on back feet.The results provide the necessary reference for designing drive control system of piezoelectric walking mechanism.更多还原