【作者】 陈维山； 刘英想； 刘军考； 石胜君；

【Author】 Wei-shan CHEN,Ying-xiang LIU,Jun-kao LIU,Sheng-jun SHI State Key Laboratory of Robotics and System,Harbin Institute of Technology, 92 West Dazhi Street,Harbin,Heilongjiang 150001,China

【机构】 黑龙江省哈尔滨市西大直街92号哈尔滨工业大学机器人与系统国家重点实验室；

【摘要】 本文提出一种弯振夹心换能器式圆筒型超声电机,电机定子圆筒外侧沿周向均布有四个弯振夹心换能器。四个弯振换能器分为两组进行激励,通过控制输入激励信号,实现在定子圆筒上激励出两个幅值相等、在时间和空间上均相差π/2的弯振模态响应,两个弯振模态响应叠加在定子圆筒上形成行波,驱动齿表面质点产生椭圆运动轨迹,进而通过驱动齿和转子之间的摩擦耦合实现转子的宏观运动输出。该电机采用压电陶瓷高机电耦合效率的d₃₃模式工作,可以有效的解决贴片式超声电机机电耦合效率低、机械输出能力差的问题。本文在分析该电机工作机理的基础上,建立定子圆筒和换能器的参数化有限元模型,通过模态分析进行模态特征频率的结构参数灵敏度分析;最终实现定子圆筒弯振模态和换能器弯振模态特征频率之间的简并,并对定子圆筒的振动特性和定子驱动齿表面质点的振动轨迹进行了分析,瞬态分析得到的驱动齿表面质点运动轨迹接近理想的椭圆运动轨迹。分析结果为物理样机的研制提供了理论依据。更多还原

【Abstract】 A cylindrical ultrasonic motor using bending transducer was proposed in this paper.The stator components of proposed motor contain a cylinder and four bending transducers,and the four uniform bending transducers are set on the exterior surface of cylinder.The bending of transducers is excited by the longitudinal vibration of PZT ceramics.The four transducers are excited with two different groups of signal,and two bending vibrations are generated on the cylinder. When the amplitude of two bending vibrations is equal,and their phase difference on time and space isπ/2.a traveling wave is formed on the cylinder.Thus,an elliptical motion is achieved at the particle on the tooth.And the frictional force between rotor and stator is the driving force to realize the rotation motion of rotor.The PZT ceramics work with d₃₃ mode,which have high electromechanical coupling efficiency and could improve the output characteristics.The working principle of proposed motor was analyzed.The cylinder and transducers were designed with FEM.The sensitive parameters of resonance frequency of transducer and cylinder were gained with modal analysis.The bending resonance frequency of transducers and cylinder were degenerated,and the motion trajectories of nodes on the teeth were analyzed. The result of transient analysis shows that the trajectory of node on the tooth is nearly an ellipse.The results of this paper could be useful in the development of this new type of motor.更多还原