基于超声波电机的三维微动平台的设计

Design of Three Dimensional Micro-displacement Worktable Based on the Ultrasonic Motor

为了适应航空环境中低电压和轻重量的要求,设计了一种基于柔性铰链微位移缩小机构的微动平台。微动平台由超声波电机作为驱动元件,利用杠杆原理,经由柔顺机构输出缩小位移,从而实现机器人末端手臂的微位姿调整。对微位移缩小机构缩小倍数与运动学做了理论分析,并对柔性铰链位移和最大应力进行了有限元分析,实验证明该微动平台可以实现预期的运动。

In order to meet the requirement of low voltage and light weight in the space envirement, a micro-displacement worktable based on the compliant mechanism of motion reduction is designed. It＇ s driven by ultrasonic motor, and the flexure hinges was used to reduce the output displacement according to lever pricipal, which can adjust the micro-posture of the end of the robotic arm. The reduce factor and and the kinematics of the compliant mechanism of motion reduction were theoretical established and the analyses of the compliant hinges of displacement and maximum stress was done by finite element method. Results from fabrication and experiments testify the feasibility of the presented micro-displacement worktable.