预压力对压电驱动履带移动系统的性能影响

为了提高夹心式压电驱动移动系统的机械输出性能，提出了一种U型预压力调节机构，并开展了预压力对夹心式压电驱动履带移动系统输出性能影响关系的实验研究。首先，针对U型预压力调节机构的安装对夹心式压电振子的振动特性影响关系开展了有限元仿真分析，发现U型预压力调节机构始终处在夹心式压电振子的两相工作模态振动节点位置；其次，开展了夹心式压电驱动履带移动系统的原理样机的预压力调节测试实验，确定了系统的最大输出牵引力及其所对应的最佳预压力；最后，在最佳预压力工作状态下，开展了原理样机的牵引力特性、越障性能以及模拟月壤环境下的运动特性实验。研究结果表明，在最佳预压力工作状态下，夹心式压电驱动履带移动系统的机械输出性能最佳，为其进一步在月面巡视器上的应用提供了技术支持和试验基础。

Effect of Preload on Performance of Piezoelectric Actuated Tracked Mobile System

To improve mechanical output performances of the sandwich piezoelectric actuated tracked mobile system, a U-shaped preload adjusting mechanism is proposed, and experimental investigations on the relationship between the preload and the output performance of the sandwich piezoelectric actuated track mobile system are carried out in this study. At first, finite element simulation analysis is conducted to study the influence of the installation of the U-shaped preload adjusting mechanism on the vibration characteristic of the sandwich piezoelectric actuator. Additionally, the optimal preload force corresponding to the maximum traction force of the sandwich piezoelectric actuated tracked mobile system prototype with the installation of the U-shaped preload adjusting mechanism is experimentally determined. Finally, traction characteristics, obstacle crossing performances, and motion characteristics in the simulated lunar soil environment are experimented for the tracked mobile system prototype under the optimal preload force state. Experimental results indicate that the mechanical output performance of the sandwich piezoelectric actuated tracked mobile system is improved when it worked in the optimal preload force state. These provide the technology support and experimental basis for the future application of the piezoelectric actuated tracked mobile system on lunar rovers.