| 3个行波定子的2自由度球形超声波电机 |
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| 引用本文： | 胡锡幸,郭吉丰.3个行波定子的2自由度球形超声波电机[J].中国电机工程学报,2010(9). |
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| 作者姓名： | 胡锡幸 郭吉丰 |
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| 作者单位： | 浙江大学电气工程学院; |
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| 基金项目： | 国家863高技术基金项目(2006AA04Z229)~~ |
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| 摘 要： | 提出一种基于3个行波定子的2自由度球形行波型超声波电机,给出了其结构及其驱动原理,重点介绍行波定子自动对心的自适应结构及其螺旋弹簧,该种结构可使每一个行波定子能柔顺地压紧球转子,可克服由3个行波定子的加工及其安装误差对电机产生的影响,保证每个定转子接触圆周之间的预紧力比较均匀一致。同时,给出了该种2自由度球电机的机械特性计算公式,并以极小范数解为优化目标等手段,分析了此球电机的性能特点。研制的球电机样机球转子直径40mm,堵转力矩达0.12N?m,空载转速90r/min,且各方向性能较一致。此球电机具有结构紧凑、安装方便和性能优越的特点,可用于机器人手腕、CCD云台控制等许多场合。
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| 关 键 词： | 2自由度 球电机 超声波电机 机械特性 |
Two Degree of Freedom Spherical Ultrasonic Motor With Three Traveling-wave Stators |
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| HU Xi-xing,GUO Ji-feng.Two Degree of Freedom Spherical Ultrasonic Motor With Three Traveling-wave Stators[J].Proceedings of the CSEE,2010(9). |
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| Authors: | HU Xi-xing GUO Ji-feng |
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| Affiliation: | HU Xi-xing,GUO Ji-feng (College of Electrical Engineering,Zhejiang University,Hangzhou 310027,Zhejiang Province,China) |
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| Abstract: | A novel type of 2DOF (two degree of freedom) spherical ultrasonic motor with three traveling-wave type stators was developed. Its structure and driving principle are introduced,especially a spiral form of the spring was presented. The key issue of the self-regulation between the stators and the spherical rotor was solved,and the errors caused by processing and installation were overcomed by making use of the special-made spring. Ensured that the preload between the stators and the spherical rotor was more u... |
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| Keywords: | two degree of freedom spherical motor ultrasonic motor mechanical characteristics |
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