一种新型的球形超声波电机,配有电线定位器,通过一种新方法测量扭矩和预负荷
Seyed Hassan Jahantab1, Yousef Hojjat2, Behzad Ghavami Namin3
1Department of Mechanical Engineering, Tarbiat Modares University, Tehran, Iran. s.jahantab@modares.ac.ir.
Scientific reports
|July 24, 2023
概括
这项研究介绍了一种新型的多自由度 (MDOF) 超声波电机,使用螺旋电线定位器和用于球形转子操纵的压电堆执行器. 实验结果表明,它具有精确的运动控制和扭矩生成的能力.
科学领域:
- 机械工程 机械工程
- 机器人技术 机器人技术 机器人技术
- 材料科学 材料科学 材料科学
背景情况:
- 传统的超声波电机在小型化和多轴运动控制方面经常面临局限性.
- 零电动执行器提供精确的控制,但将它们集成到复杂的运动中需要创新的设计.
研究的目的:
- 介绍和分析一个新的多度自由度 (MDOF) 超声波电机.
- 为了证明电机在使用螺旋线定位器和压电堆执行器驱动球形旋转器的能力.
主要方法:
- 有限元法 (FEM) 用于自身频率和频域分析.
- 对旋转速度,扭矩和预负载力进行实验研究.
- 开发用于扭矩计算 (粘性剪切应力) 和预负载力测量 (浮力) 的新方法.
主要成果:
- 压电堆执行器通过其振动模式成功实现了MDOF运动.
- FEM分析证实了电机的MDOF能力,共振频率与实验阻抗分析仪测试相匹配.
- 最大旋转速度达到306rpm,最大扭矩达到4.7μN·m.
结论:
- 拟议的MDOF超声波电机设计对于球形转子操纵是有效的.
- 螺旋线定位器和压电堆执行器的集成为微型机器人和精确定位应用提供了紧,高效和多功能解决方案.
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