【作者】 刘军考； 石胜君； 陈维山； 未倩倩；

【Author】 LIU Jun-kao,SHI Sheng-jun,CHEN Wei-shan,WEI Qian-qian (State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China)

【机构】 哈尔滨工业大学机器人技术与系统国家重点实验室；

【摘要】 本文提出了一种新型的内嵌压电陶瓷径向弯曲模态行波型超声电机。该电机将20组压电陶瓷均匀地镶嵌到定子外缘,通过锯齿形弹簧块的挤压变形施加预紧力,从而利用压电陶瓷高效的d33模式激发定子弹性体径向弯曲振动。双锥面转子与定子驱动齿边缘接触,通过螺母-弹簧系统实现定转子预紧力的施加。本文对电机的工作原理进行了分析,给出了行波的合成条件。采用有限元的方法对电机定子进行了设计和分析,并研制了实验样机。样机工作频率为19.85kHz,最大转速为146r/min,最大堵转力矩为1.0N·m。更多还原

【Abstract】 this paper proposes a new type of traveling wave USM which uses embedded piezoelectric element and radial bending mode.In this design,20 PZT stacks are nested in the outer surface of a thick duralumin alloy ring symmetrically.Zigzag spring blocks are set in the middle of two consecutive PZT stacks, which apply prepress on the PZT ceramics.d33 working mode of the PZT is used to excite the radial bending vibrations of the stator.Two circular cone rotors are pressed in contact to the rims of the driving teeth.The preload between the stator and the rotor is accomplished by a spring and nut system.The working principle of the motor is analyzed,and the synthesis conditions of travelling wave are given.FEM simulation and performance measurements of a prototype motor are developed to validate the proposed design.Typical output of the motor is no-load speed of 146r/min and maximum torque of 1.0N·m.更多还原