摘要
首先介绍了卧板式直线超声波电动机的结构和工作原理,按照嵌入驱动的思路进行了一款二指机械手的机构设计和受力分析,制作了样机。经过实验考察了该机械手的夹持物体能力,验证了卧板式直线型超声波电动机应用在机器人手指上的可行性。
The structure and working principle of a board- type horizontal piezoelectric linear ultrasonic motor were introduced. According to the idea of embedded driving,the structure design and the force analysis of a two- finger manipulator was carry out,and its prototype was proposed. The experiment demonstrates the ability of its griping object,and the feasibility that board- type horizontal linear ultrasonic motor can be used to drive the robot finger.
出处
《微特电机》
北大核心
2016年第9期26-28,32,共4页
Small & Special Electrical Machines
基金
国家自然科学基金项目(51577112)
关键词
压电超声波直线电动机
嵌入式驱动
二指机械手
机构设计
搓捏动作
piezoelectric ultrasonic linear motor
embedded driving
two fingers manipulator
mechanism design
twist-pinch action
