基于柔性板簧的三自由度球形超声波电机静力学建模与分析

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (880 KB)
输出: BibTeX | EndNote (RIS)

摘要多自由度球形超声波电机具有机械集成度高、分辨率高和无电磁干扰等独特优势, 在微型机器人、医疗设备和监控探测等领域具有广阔的应用前景。为了提升多自由度电机的容差性和自适应调节能力, 提出了一种基于柔性板簧的三自由度球形超声波电机, 从电机定、转子空间位置和几何结构关系出发建立了电机的静力学模型, 可分析电机各种结构参数对接触圆周的力分布影响。通过电机的算例分析, 证明柔性板簧具有自适应的调节能力, 可为电机定、转子提供较均匀的预紧力。研究成果对三自由度球型超声波电机的优化设计与性能提升具有指导意义。

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	王剑
	胡锡幸
	郭吉丰

关键词 ：三自由度, 球形电机, 超声波电机, 柔性板簧, 静力学模型

Abstract：Multi-degree-of-freedom ultrasonic motors with advantages of high mechanical integration, high resolution and anti-EMI, are widely used in the fields of micro-robotics, medical equipment, monitoring and detecting. In order to improve the tolerance and adaptive capacity of three-degree-of-freedom(3-DOF) spherical ultrasonic motor, a spiral spring as preload applied component is designed in this work. The statics model of 3-DOF motor is built up from spatial geometric relations between three annular stators and the spherical rotor. The model is used to analyze the force distribution influence of different structural parameters on the contact circumference. The results of numerical simulation show that the spiral spring has the adaptive ability to provide uniform preload. The research can guide the optimal design and performance improvement of the 3-DOF motor.

Key words： Three-degree-of-freedom spherical motor ultrasonic motor spiral spring statics model

收稿日期: 2013-11-05 出版日期: 2014-06-17

PACS:

TM356

基金资助:国家自然科学基金资助项目(51107111)

作者简介: 王剑, 男, 1981年生, 博士, 讲师, 研究方向为压电驱动器、超声波电机和电机检测等; 郭吉丰, 男, 1964年生, 教授, 博士生导师, 研究方向为电机系统及其控制。

引用本文:

王剑, 胡锡幸, 郭吉丰. 基于柔性板簧的三自由度球形超声波电机静力学建模与分析[J]. 电工技术学报, 2014, 29(3): 125-131. Wang Jian, Hu Xixing, Guo Jifeng. Statics Modeling and Analyzing of Three-Degree-of-Freedom Spherical Ultrasonic Motors with the Spiral Spring. Transactions of China Electrotechnical Society, 2014, 29(3): 125-131.

链接本文:

http://dgjsxb.ces-transaction.com/CN/Y2014/V29/I3/125

[1] 胡敏强, 金龙, 顾菊平. 超声波电机原理与设计[M]. 北京: 科学出版社, 2005.
[2] 郭吉丰, 白洋, 王剑. 多自由度超声波电机的研究进展和展望[J]. 振动与冲击, 2013, 32(15): 1-7.
Guo Jifeng, Bai Yang, Wang Jian. Recent development and prospect of multi-degree-of-freedom ultrasonic motors[J]. Journal of Vibration and Shock, 2013, 32(15): 1-7.
[3] Zhang X, Nakamura K, Ueha S. Two-joint robot finger design based on multi-degree-of-freedom ultrasonic motors[J]. Acoustical Science and Technology, 2009, 30(1): 42-47.
[4] Takemura K, Park S, Maeno T. Control of multi-DOF ultrasonic actuator for dexterous surgical instrument [J]. Journal of Sound and Vibration, 2008, 311(3-5): 652-666.
[5] Hoshina M, Mashimo T, Fukaya N. Spherical ultrasonic motor drive system for camera orientation in pipe inspection[J]. Advanced Robotics, 2013, 27(3): 199-209.
[6] Amano T, Ishii T, Nakamura K, et al. An ultrasonic actuator with multi degree of freedom using bending and longitudinal vibrations of a single stator[C]. Proceedings of the Ultrasonics Symposium, Sendai, 1998, 1: 667-670.
[7] 徐志科, 金龙, 胡敏强, 等. 一种新型双定子三自由度超声波电机特性研究[J]. 微电机, 2009, 42(4): 27-29.
Xu Zhike, Jin Long, Hu Minqiang, et al. Research on a novel 3-DOF ultrasonic motor with two cylinder stators[J]. Micromotors, 2009, 42(4): 27-29.
[8] 李志荣, 赵淳生, 黄卫清. 圆柱形三自由度超声电机定子的结构动力学优化设计[J]. 振动工程学报, 2005, 18(4): 471-474.
Li Zhirong, Zhao Chunsheng, Huang Weiqing. Structural dynamics optimal design of a 3-DOF cylinder type stator of ultrasonic motor[J]. Journal of Vibration and Engineering, 2005, 18(4): 471-474.
[9] Gouda Y, Nakamura K, Ueha S. A miniaturization of the multi-degree-of-freedom ultrasonic actuator using a small cylinder fixed on a substrate[J]. Ultrasonics, 2006, 44(Supplement): e617-e620.
[10] Aoyagi M, Beeby S P, White N M. A novel multi- degree-of-freedom thick-film ultrasonic motor[J]. IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, 2002, 49(2): 151-158.
[11] Ting Y, Tsai Y R, Hou B K, et al. Stator design of a new type of spherical piezoelectric motor[J]. IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, 2010, 57(10): 2334-2342.
[12] Mashimo T, Toyama S, Ishida H. Design and implementation of spherical ultrasonic motor[J]. IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, 2009, 56(11): 2514-2521.
[13] 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, 30(9): 62-67.
Hu Xixing, Guo Jifeng. Two degree of freedom spherical ultrasonic motor with three traveling-wave stators[J]. Proceedings of the CSEE, 2010, 30(9): 62-67.
[14] 傅平, 郭吉丰, 沈润杰. 三自由度行波型超声波电机的静力学分析[J]. 浙江大学学报(工学版), 2007, 41(6): 968-972.
Fu Ping, Guo Jifeng, Shen Runjie. Statics analysis of three-degree-of-freedom traveling-wave type ultrasonic motor[J]. Journal of Zhejiang University (Engineering Science), 2007, 41(6): 968-972.
[15] Storck H, Wallaschek J. The effect of tangential elasticity of the contact layer between stator and rotor in travelling wave ultrasonic motors[J]. International Journal of Non-Linear Mechanics, 2003, 38(2): 143-159.