Sandwiched type piezoelectric manipulator based on spherical joint and control method of manipulator

Abstract

The invention discloses a sandwiched type piezoelectric manipulator based on a spherical joint and a control method of the manipulator. The manipulator comprises a palm platform and at least two fingers; each finger comprises a first joint, a first phalanx, a second joint and a tail end phalanx which are sequentially connected; the first joints and the second joints are the same in structure, andeach comprise two symmetrically installed two annular vibrators; every two annular vibrators are coaxially fixed to the upper side and the lower side of a supporting frame; the upper annular vibratorof each first joint is connected with the corresponding first phalanx, and the upper and lower annular vibrators of each second joint are connected with the corresponding tail end phalanx and the corresponding first phalanx correspondingly; the annular vibrators are provided with bending vibration electric ceramic wafers; and due to the fact that electric signals are loaded for the bending vibration electric ceramic wafers in setting of a polarization manner, the annular vibrators deform so that the action changing of the phalanxes can be driven. The manipulator is not provided with an extra transmission chain, the structure is simple and compact, and microminiaturization is facilitated; and each joint has two rotating freedom degrees, functions are flexible, responding is fast, precisionis high, and electromagnetic interference influences are avoided.

Description

technical field [0001] A sandwich type piezoelectric manipulator based on a spherical joint and its working method proposed by the invention relate to the technical field of manipulators. Background technique [0002] In existing manipulators, the driver is placed in the palm or the arm, and the motion of the driver is transmitted to the drive joint by means of motion transmission elements such as gears and pulleys. Because traditional drive technology is difficult to provide a driver with a simple and compact structure and high power density, a large space must be provided in the palm or inside the arm to install the driver, and it is difficult to achieve an overall miniaturized design, which restricts its application in deep space exploration, etc. Further applications in fields with strict requirements on quality and volume. [0003] In addition, the drives of traditional manipulators generally use pneumatic drives, hydraulic drives, or DC motors as drives. Usually, a si...

AI Technical Summary

Problems solved by technology

Because traditional drive technology is difficult to provide a driver with a simple and compact structure and high power density, a large space must be provided in the palm or inside the arm to install the driver, and it is difficult to achieve an overall miniaturized design, which restricts its application in deep space exploration, etc. Further applications in fields with strict requirements on quality and volume

[0003] In addition, the drives of traditional manipulators generally use pneumatic drives, hydraulic drives, or DC motors as drives. Usually, a single drive can only provide one degree of freedom of motion. To design a multi-degree-of-freedom manipulator requires multiple drives, which is also unfavorable to the structure. Miniaturization

[0004] Aiming at the problem that the existing manipulator is difficult to achieve miniaturization design, the present invention proposes to use the principle of piezoelectric excitation and friction drive to construct a sandwich-type piezoelectric manipulator based on spherical joints and its working mode. The piezoelectric ceramic sheet of the joint itself excites vibration, Relying on frictional drive does not require a built-in driver, and a single joint can provide freedom of movement in two directions. There is no motion transmission chain, which simplifies the structure. Combined with the advantages of small mass and high power density of piezoelectric materials, it can realize miniaturized design. And it has the advantages of fast response of piezoelectric drive, power-off self-locking, etc.

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