被动箝位蠕动直线压电驱动器数学模型及仿真

Mathematical Model and Simulation of a Kind of Inverse Piezoelectric Linear Inchworm Motor

基于蠕动式直线驱动器的工作原理,引入三角放大结构,设计一款单向直线被动箝位压电驱动器。该驱动器由驱动和保持箝位体、驱动体和导轨等组成,其箝位体采用三角放大结构,有效提高箝位体压电叠堆的输出位移,箝位体在通电状态下可解除对导轨的箝位,在断电状态下可自锁导轨。利用机械振动能量法,建立驱动器主要结构的数学模型,研究驱动体和箝位体结构参数对等效刚度和响应频率的影响,借助于有限元仿真分析和试验,验证数学模型所设计的结构参数的有效性,测试驱动器负载特性以及不同载荷下的动态响应频率。

Based on the principle of linear inchworm motor,a kind of unidirectional inverse clamping linear inchworm motor with triangulation amplification is proposed.It is composed of two clamping bodies,driving body and guide.The output displacement of the piezoelectric in clamping body is amplified by triangulation amplification.The guide is released under powering on and locked under power off.The mathematic model of inchworm motor is modeled by energy method in the field of mechanical vibration.The influences on the natural frequencies of driving body and clamping body by structural parameters are analysed.The structural parameters calculated in mathematic model are proved by finite element method（FEM） and experiments.The dynamic respond frequencies are tested with different loads.