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Orthogonal piezoelectric joint mechanism and control method thereof

A joint and piezoelectric technology, applied in the field of manipulators, can solve the problems of large size, difficult miniaturization, and low power density of manipulators, and achieve the effects of small size, miniaturized design, and high power density.

Pending Publication Date: 2019-09-17
ZHEJIANG NORMAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The traditional drive technology above makes the entire robotic arm bulky and low in power density, making it difficult to achieve overall miniaturization, which restricts its further application in areas with strict requirements on mass and volume, such as deep space, deep sea exploration, and medical treatment.

Method used

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  • Orthogonal piezoelectric joint mechanism and control method thereof
  • Orthogonal piezoelectric joint mechanism and control method thereof
  • Orthogonal piezoelectric joint mechanism and control method thereof

Examples

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Effect test

Embodiment 1

[0034] Such as figure 1 As shown, an orthogonal piezoelectric joint mechanism includes several single-stator orthogonal double-loop two-degree-of-freedom piezoelectric actuators connected in sequence; Taking the piezoelectric joint mechanism as an example, the two piezoelectric actuators included are the first piezoelectric actuator 1 and the second piezoelectric actuator 5 respectively.

[0035] Such as figure 2 As shown, the single-stator orthogonal double-ring two-degree-of-freedom piezoelectric actuator includes a piezoelectric vibrator, a conical rotor 8 and a connecting assembly.

[0036] Such as image 3 As shown, the piezoelectric vibrator includes five metal substrates and four piezoelectric ceramic sheets. The gold base includes two first metal bases 6-1 located at both ends of the piezoelectric vibrator, a third metal base 6-3 located in the middle of the piezoelectric vibrator, and two second metal bases located on both sides of the third metal base. 6-2, that...

Embodiment 2

[0050] The invention also discloses a method for controlling and driving an orthogonal piezoelectric joint mechanism, which includes the following steps:

[0051] For each single-stator orthogonal double-loop two-degree-of-freedom piezoelectric actuator, by applying two sets of simple harmonic drive signals with a specific frequency and a phase difference of π / 2 to one end of the bending vibration piezoelectric ceramic piece and the longitudinal vibration piezoelectric ceramic piece, Excite the first-order longitudinal vibration mode and the second-order bending vibration mode of the piezoelectric vibrator. The two modes are of the same type and have a phase difference of π / 2 in time and space. The coupling of the two modes forms a rotational motion. The wave makes the particle inside the ring structure of the piezoelectric vibrator produce a slight elliptical motion, and drives the rotor and the connecting component to rotate through friction, thereby driving the movement of t...

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Abstract

The invention discloses an orthogonal piezoelectric joint mechanism and a control method thereof. Single-stator orthogonal double-ring two-degree-of-freedom piezoelectric actuator comprises piezoelectric vibrators, conical rotors and connecting assemblies, wherein each piezoelectric vibrator comprises two first metal base bodies, a third metal base body and two second metal base bodies, longitudinal vibration piezoelectric ceramic pieces are arranged between the second metal base bodies and the third metal base bodies, bending piezoelectric ceramic pieces are arranged between the first metal base bodies and the second metal base bodies, and two connecting shafts at the connecting ends of two adjacent single-stator orthogonal double-ring two-degree-of-freedom piezoelectric actuators are orthogonal and are connected through an orthogonal connecting assembly. According to the mechanism, the single-stator orthogonal double-ring structure is adopted, so that single piezoelectric actuator can achieve two-degree-of-freedom rotation, a joint can be directly driven to rotate by means of friction force, the advantages of small size and high power density of a piezoelectric material are combined, the miniaturized design of the integral structure is realized, and the advantages of fast response of piezoelectric driving, power failure self-locking and the like are brought into full play.

Description

technical field [0001] The present invention relates to robotics, in particular to mechanical arms. Background technique [0002] Most of the existing manipulators use traditional drive technology, placing drives such as electromagnetic motors at the joints, and using motion transmission elements such as gears and pulleys to transmit the motion of the drive to the drive joints. If multi-degree-of-freedom motion is realized, the number of drives must be increased. The traditional drive technology above makes the entire robotic arm bulky and low in power density, making it difficult to achieve overall miniaturization, which restricts its further application in areas with strict requirements on mass and volume, such as deep space, deep sea exploration, and medical treatment. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide an orthogonal piezoelectric joint mechanism, which not only has a compact structure and can be...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J9/12
CPCB25J17/00B25J9/12
Inventor 丁璐张克华李春茂庄千洋朱苗苗邓靓
Owner ZHEJIANG NORMAL UNIVERSITY
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