【作者】 刘英想； 陈维山； 杨小辉； 刘军考；

【Author】 Yingxiang Liu,Weishan Chen,Xiaohui Yang and Junkao Liu (State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin,150001,P.R.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】 作者在前期研究中提出了一种新型的弯振复合型超声驱动器,该驱动器采用压电金属复合梁两个空间同型正交弯振模态的复合,在两个驱动足处激励出椭圆轨迹振动,最终通过驱动足与动子之间的摩擦耦合实现了直线驱动输出。本文在前期研究成果的基础上,对该驱动器的振动特性进行深入研究。首先建立矩形截面梁在弯振复合模态下末端区域质点振动轨迹的数学模型;借助有限元瞬态分析,对驱动足振动轨迹进行仿真,实现对所建立振动轨迹数学模型的验证。进一步分析前期研究中所提出驱动器中存在的不足之处,并提出通过对称设置压电陶瓷片实现两个驱动足振动轨迹一致的改进方案;理论分析和仿真结果均表明:弯振复合型超声驱动器两个驱动足表面质点振动轨迹为三维的椭圆。本文分析结果对该类驱动器的后续设计工作具有重要的指导意义。更多还原

【Abstract】 In a previous research,the authors have presented and developed an ultrasonic actuator using composite bending vibration modes.In that new design,two orthogonal second-order bending vibration modes of a piezoelectric-metal composite beam are superimposed to excite elliptical trajectory vibrations on the two driving feet,and the linear driving is realized by the frictional force between the runner and the driving feet.This study focuses the research on the vibration characteristics of the proposed ultrasonic actuator.Firstly,the vibration trajectory equation of particle on the tip end of rectangle beam under the composition of bending vibration modes is founded.Then,transient analysis is developed to gain the vibration trajectories of nodes on the driving feet, which verify the correctness of the founded vibration trajectory equation.Finally,the disadvantage of the proposed ultrasonic actuator using composite bending vibration modes is analyzed,and an improved program to realize the consistent vibration on the two feet by a symmetric setting of the PZT ceramics is presented.Both the theory and simulation analysis results indicate that the motion trajectory of particle on the driving feet is three-dimensional ellipse.The study results of this paper can guide the future design of ultrasonic actuator using bending mode.更多还原