一体双驱对称式压电悬臂梁微驱动器

设计了一种一体化加工的双驱对称式压电悬臂梁微驱动器。对压电驱动器工作原理、压电驱动器在准静态工况与共振工况下的输出特性进行了理论分析,确定压电驱动器几何尺寸。介绍了压电驱动器的多层复合结构与一体双驱的实现方式。制作了压电驱动器样机,并通过有限元仿真分析与测试实验相结合的方式得到压电驱动器的阻抗特性与输出特性曲线。将压电驱动器运用在轮式机器人,验证了设计的可行性。     

新型摩擦变化式压电惯性驱动器

由于目前压电惯性驱动器普遍采用非对称性信号激励,驱动信号发生与控制系统复杂,该文提出采用对称电信号激励压电元件产生往复相同的惯性冲击力,通过控制机构和支撑面之间的摩擦力,使驱动器定向运动,形成有规律的新型压电惯性驱动器的研究方案.分析了驱动器的工作原理及结构特点,建立了驱动器的动力学模型,设计研制了基于V型导轨的摩擦变化式压电惯性驱动器样机并进行了仿真分析与试验测试,结果表明,提出的新型驱动器具有输出性能稳定,负载特性好,重复定位精度较高等特点.     

多足并联型压电电机的柔性定子设计

并联压电电机采用多个压电致动器提高电机输出功率,但由于驱动器间相互干扰,导致输出效率下降。该文提出了一种由簧片和质量块组成的柔性驱动足定子结构,可降低并联直线电机中致动器间的相互干扰。建立驱动足的接触振动模型,并分析各参数对输出性能的影响。设计并制作电机样机,实验结果表明,电机的输出力随着预紧力增大而增大,激励电压峰-峰值为30 V时电机的最大输出力可达1.8 N。激励电压越大,电机的最大输出力越大。通过六足和四足电机的负载特性测试对比,证明了每个驱动足都可有效作用于滑轨上,驱动足间的相互干扰降低,输出效率提高,且电机的输出力可随着驱动足数量的增大而线性增大。     

新式压电精密旋转驱动器

提出一种新型将压电叠堆驱动元件应用到精密旋转驱动器上的研究方案。在对驱动器工作原理和机械结构进行分析研究的基础上,建立了以压电叠堆为驱动元件的旋转驱动数学模型。采用有限元分析软件对机械结构进行了分析,得到了机械结构工作方向的静力学变形图和频率响应特性曲线;对低频状态驱动器的旋转分辨率进行了试验测试,并对样机的频响特性进行了试验测试,结果表明仿真分析结果基本反映了机械结构的谐振频率分布状况,对结构优化设计具有一定的意义,此外对影响测试结果精度的因素进行了分析。设计的结构具有低频工作稳定、分辨率高(0.136 6μrad)等优点。     

基于智能复合微结构的亚手掌尺度压电双驱扑翼微飞行器的研究

该文设计、制作和研究了一种亚手掌尺度的双驱扑翼微飞行器。飞行器主要采用多层平面材料的智能复合微结构（SCM）加工工艺进行加工。装配得到的样机整机质量为244 mg,翼展61 mm。对样机的压电驱动器性能进行了测试。测试结果表明,压电驱动器空载共振频率约为1 100 Hz,负载共振频率约为28 Hz;对样机进行了升力测试,得到样机的升力为 0.689 mN。     

压电双晶片阵列式直线驱动器的设计与研究

基于压电双晶片提出一种新型准静态直线压电驱动器,可通过阵列的方式获得所需机械输出力,结构简单,性能稳定,可控性强。利用有限元软件对驱动器结构进行设计与分析,并加工制造了该驱动器的物理样机。最后通过实验发现,当驱动频率为500~2 100Hz时,驱动器可直接输出直线运动。当驱动频率为1 100Hz,驱动电压峰-峰值为200V,预紧力为1.5N时,该驱动器最大输出速度可达95mm/s,最大输出力为0.7N。     

直线压电驱动器的发展研究及关键技术

直线驱动器是机电系统运行的关键,直线压电驱动器以其特有的优势在该领域迅速发展,引起广泛关注。它可实现高分辨率的运动,响应速度快、精度高,没有空回、粘滑等现象,且不发热,无噪声、无污染,控制方法简单。本文介绍了直线压电驱动器的技术特点,并对国内外的压电驱动器发展及应用情况进行详细介绍,指出了压电驱动领域的关键技术,对直线压电驱动器新一代样机的研制具有指导意义。     

新型压电叠堆式步进直线精密驱动器设计

提出了以压电叠堆作为驱动源的新型步进直线精密驱动器,分析了步进直线驱动器的工作原理,设计步进直线驱动器结构及其控制电压波形。为减少驱动器部件间摩擦,构建了滚动直线滑轨与驱动器结合的结构模型。制作了步进直线精密驱动器样机,并对样机进行实验测试,实验结果表明,驱动器的最小步距为0.05 μm,最高运行速度为610 μm/s,且运动性能稳定。     

双压电膜驱动微小型机器人建模与实验测试

该文分析了基于双压电膜驱动微小机器人的惯性冲击式运动原理,建立了机器人压电振子的等效电学模型,采用有限元法对双压电膜驱动器进行模态分析,确定了微小型机器人运动的激励信号频率,并求解了双压电膜等效电学模型中的电学参数。在此基础上对该微小机器人进行了实验测试,结果表明,机器人最高速度为200 mm/min,最大输出力为0.1 N。     

一种直线压电电机驱动足的结构优化设计

直线压电电机在精密仪器、生物医学和半导体封装等行业具有广阔的应用前景,其定子结构特性直接影响了电机运行的稳定性和输出性能。以一种直线压电电机定子驱动足的位移输出特性为优化目标,研究该类电机驱动足结构优化设计方法,提高该类电机的综合输出性能。通过分析驱动足的微观几何位移特性,理论研究了驱动足结构参数对输出端宏观运动特性的影响。研究了不同结构下驱动足的输出特性,确定驱动足的结构参数及最优值。最后对优化后的驱动足位移输出性能和力学性能进行仿真分析。加工优化样机,并测试电机的机械输出性能。实验结果表明,电机的输出力为0.64 N,比优化前增大了52.4％。     

Design,modeling and control of a miniature bio-inspired amphibious spherical robot

It is a huge challenge for an amphibious robot with a high locomotory performance to locomote in amphibious environments, including crawling on rough terrains, maneuvering underwater, and launching and landing motion between land and water. To deal with such a challenge, a miniature bio-inspired Amphibious Spherical Robot (ASRobot) with a Legged, Multi-vectored Water-jet Composite Driving Mechanism (LMWCDM) has been designed. In this paper, locomotory performance of the robot in amphibious field environments is studied. First, a simplified kinematic model was built to study crawling gaits, and with an online adjustment mechanism, the gaits were adjusted, enabling the robot to climb up slopes more stably. Then, using a dynamic underwater model, a real-time dynamic thrust vectoring allocation strategy is proposed to generate the water-jet thrust and joint angles using desired forces and torques computed by four parallel PID algorithms. Finally, a set of experiments were carried out to evaluate the performance of on land locomotion and underwater locomotion. Further, outdoor locomotion experiments including crawling on various terrains, launching and landing motion, were conducted in field environments. The results demonstrate that the robot prototype possesses the high locomotory performance which endows its wide application of disaster rescue, reconnaissance and resource exploration in amphibious environments.     

On Development of a Rotary–Linear Actuator Using Piezoelectric Translators

Piezoelectric actuators have become standard elements in microsystem technology. A piezoelectric translater conventionally works as a pure linear actuator (piezotranslator) due to its inherent working principle. If a rotation is implemented with the basic piezoelectric actuation elements, a transmission mechanism is required. This paper presents the development and construction of a novel integrated piezoelectric rotary-linear actuator system that provides two degrees-of-freedom (DoF), including design concept and dynamic modeling. A prototype actuator system has been built to conduct experiments, and the experimental results are in agreement with the simulation results obtained using the derived dynamic model of the system.     

Prototype,control system architecture and controlling of the hexapod legs with nonlinear stick-slip vibrations

The paper introduces the constructed prototype of the hexapod robot designed based on the biomechanics of insects for inspection and operation applications as well as for different research investigations related to the walking robots. A detailed discussion on the design and realization of mechanical construction, electronic control system and devices installed on the robot body are presented. Moreover, the control problem of the robot legs is studied in detail. In order to find the relationship between movements commonly used by insects legs and stable trajectories of mechanical systems, first we analyze different previous papers and leg movements of real insects. Next, we are focus on the control the robot leg with several oscillators working as a so-called Central Pattern Generator (CPG) and we propose other model of CPG based on the oscillator describing stick-slip induced vibrations. Some advantages of the proposed model are presented and compared with other previous applied mechanical oscillators with help of numerical simulations performed for both single robot leg and the whole robot. In order to confirm the mentioned numerical simulations, the conducted real experiments are described and some interesting results are reported. Both numerical and experimental results indicate some analogies between the characteristics of the simulated walking robot and animals met in nature as well as the benefits of the proposed stick-slip vibrations as a CPG are outlined. Our research work has been preceded by a biological inspiration, scientific literature review devoted to the six-legged insects met in nature as well as various prototypes and methods of control hexapod robots which can be found in engineering applications.     

管道微机器人中压电执行器的研究

微执行器作为微机械系统的核心单元,一直是微机械发展关键。文章介绍了一种应用于管道微机器人的足式压电执行器。在交变电压作用下,该压电执行器将压电体的弯曲振动转化成其弹性足沿管壁的移动,从而实现执行器的运动。在分析其工作原理的基础上,研制了压电微执行器的驱动电源,并进行了简单的实验研究。研究表明该执行器具有结构简单,易于微型化,响应快,驱动方便等特点。     

压电陶瓷驱动器迟滞非线性的改善方法

压电陶瓷驱动器在微位移定位方面被广泛应用,但压电陶瓷驱动器的迟滞非线性严重影响其定位精度,因此,介绍了各种改善压电陶瓷驱动器迟滞非线性特性的方法,并提出了用3次样条插值法和最小二乘曲线拟合法来实现压电陶瓷驱动器的精确定位,改善压电陶瓷驱动器的迟滞非线性特性,实验表明,以上方法可使压电陶瓷驱动器的定位误差小于5％.     

Position control of hybrid pneumatic–electric actuators using discrete-valued model-predictive control

The design, modeling and position control of a novel hybrid pneumatic–electric actuator for applications in robotics and automation is presented. The design incorporates a pneumatic cylinder and DC motor connected in parallel. By avoiding the need for a high ratio transmission, the design greatly reduces the mechanical impedance that can make collisions with conventionally actuated robot arms dangerous. A novel discrete-valued model-predictive control (DVMPC) algorithm is proposed for controlling the position of the pneumatic cylinder with inexpensive on/off solenoid valves. A variant of inverse dynamics control is proposed for the DC motor. A prototype was built for validating the actuator design and control algorithms. It is used to rotate a single-link robot arm. The actuator inertia and static friction torque values for the prototype were only 0.6% and 4%, respectively, of the values found for a comparable actuator from an industrial robot. Simulation results for position control of pneumatic actuators with different valve speeds and friction coefficients show that the DVMPC algorithm outperforms a sliding mode control algorithm in terms of position error and expected valve life. Experimental results are presented for vertical rotary cycloidal trajectories. Even with the poor quantization caused by the on/off valves, the pneumatic cylinder controlled by the proposed DVMPC algorithm achieved a 0.7% root mean square error (RMSE) and a 0.25% steady-state error (SSE). With the addition of the DC motor to form the hybrid actuator, the RMSE and SSE were reduced to 0.12% and 0.04%, respectively. By incorporating a novel estimation algorithm, the system was made robust to an unknown payload.     

大位移交叉环形电极压电驱动器结构优化

设计一种交叉环形电极与压电圆盘驱动器相结合的交叉环形电极（CREs）压电圆盘驱动器,利用分析软件ABAQUS进行静力学分析,着重研究CREs型压电圆盘驱动器电极结构几何尺寸以及驱动器厚度对驱动器径向驱动性能的影响。研究结果表明,减小电极中心距与驱动器厚度,有利于提高驱动器的驱动性能;加载相同电压,CREs型压电圆盘驱动器的径向夹持应力能达到普通型的2.1倍,径向自由应变能达到普通型的3.4倍。CREs型压电圆盘驱动器性能研究为CREs型压电圆盘驱动器的设计制造提供了一定的理论依据。     

环形电极压电驱动器极化电压和力学性能分析

提出一种新型环形电极压电驱动器,运用ABAQUS软件对此驱动器进行电场和力学分析。着重研究环形电极分支中心距和电极宽度对极化电压和驱动性能的影响,并与普通形电极压电驱动器的极化电压和驱动性能对比。结果表明,环形电极压电驱动器的极化电压为普通形电极的1/2,环形电极结构降低压电驱动器对极化电压的要求;减小电极分支中心距、增大电极宽度,有利于降低环形电极压电驱动器的极化电压;当工作电压为90 V时,环形电极压电驱动器的径向夹持力达到普通形电极的5.2倍,径向自由位移达到普通形电极的2.6倍。