具有偏置结构的非对称惯性压电旋转驱动器

为改善惯性压电驱动器输出性能,提出了一种新型具有偏置结构的非对称惯性压电旋转驱动器。在非对称夹持的基础上,定义了一种偏置结构。为了解偏置结构对驱动器输出性能的影响,建立了机构的力学模型方程,推导并仿真分析了驱动器的动力学特性。设计、制作了试验样机,搭建了试验系统;进行了试验测试并与无偏置结构驱动器进行了性能对比。结果表明:偏置距离为15mm时,驱动器输出步距角速度最大。与无偏置结构驱动器相比,驱动电压为100V、23Hz时,驱动器输出最大角速度从3.48rad/s增加至5.39rad/s,增幅达54.88%,驱动器最大驱动力矩从2.41N·mm增加至3.62N·mm,增幅达50.2%;驱动电压为100V,4Hz时,驱动器稳定运行时的承载量达1 300g。理论与试验结果表明,提出的有偏置结构的驱动器具有输出步距角速度和驱动力矩更大的特点。

Asymmetrical inertial piezoelectric rotary actuator with bias unit

A novel asymmetrical inertial piezoelectric rotary actuator with a bias unit was proposed for improving the output performance of inertial piezoelectric actuators. On the asymmetrical clamp, the bias unit was designed. To research the effect of the bias unit on the output performance of piezoelectric rotary actuator, a mechanical model equation of the mechanism was initially established, and the dynamic characteristics of the actuator were also derived and simulated. Then, a prototype was designed and fabricated, corresponding experimental system was built to conduct experiments and experimental results were compared with that of the actuator without the bias unit. The results show that the output angular velocity peak of the actuator is at the offset distance of 15 mm. Compared with the actuator without the bias unit under the driving voltage of 100 V, 23 Hz, the actuator with the offset distance of 15 mm improves the maximum angular velocity from 3.48 rad/s to 5.39 rad/s, enhancing by 54.88% and the highest driving moment from 2.41 N·mm to 3.62 N·mm, enhancing by 50.2%. In addition, its heavy bearing capacity at stable motion attains 1 300 g under the driving voltage of 100 V, 4 Hz. Both theoretical and experimental results indicate that the designed actuator hold advantages in larger angular velocities and inertial driving moments in comparison to the one without the bias unit.