新颖惯性冲击原理的二自由度压电旋转关节研究

Research on Two Degree of Freedom Piezoelectric Rotary Joint Based on New Inertial Impact Principle

研制一种利用悬臂梁压电双晶片组成对称结构为驱动单元的基于惯性冲击驱动原理的二自由度压电旋转关节,可用于机械关节式精密旋转定位操作系统。该关节整体结构为对称式设计,利用锯齿波对压电双晶片进行激励产生驱动力矩,通过压缩弹簧调节预紧力建立该压电旋转关节的三维模型,对压电振子结构运用Comsol软件分析静态变形和固有振动特性,分析结构参数对压电振子固有频率的影响,为二自由度压电旋转关节设计和制作提供关键依据。

A two degree of freedom piezoelectric rotary joint based on the principle of inertial impact driving is developed,which uses the symmetrical structure of piezoelectric bimorph of cantilever beam as the driving unit.It can be used in the precise rotary positioning operation system of mechanical joint.The whole structure of the joint is designed symmetrically.The saw tooth wave is used to excite the piezoelectric bimorph to generate the driving torque.The pre tightening force is adjusted by the compression spring to establish the three-dimensional model of the piezoelectric rotating joint.The COMSOL software is used to analyze the static deformation and natural vibration characteristics of the piezoelectric vibrator structure.The influence of the structural parameters on the natural frequency of the piezoelectric vibrator is analyzed.It is a two degree of freedom piezoelectric vibrator The key basis for the design and manufacture of the electric rotary joint is provided.