本文選題：多自由度超聲電機(jī) + 矩形結(jié)構(gòu)�。� 參考：《南京航空航天大學(xué)》2016年碩士論文

【摘要】：多自由度超聲電機(jī)是單自由度電機(jī)基礎(chǔ)上發(fā)展起來的一種新型電機(jī),在醫(yī)療設(shè)備、精密設(shè)備、監(jiān)控設(shè)備、機(jī)器人等領(lǐng)域都有著廣泛的應(yīng)用前景。然而當(dāng)前對多自由度超聲電機(jī)還缺少深入、系統(tǒng)的研究,針對存在的問題,本文提出一種基于矩形結(jié)構(gòu)彎振的四振子多自由度超聲電機(jī),并主要進(jìn)行了以下研究工作:分類總結(jié)多自由度超聲電機(jī)的研究現(xiàn)狀,分析各類電機(jī)的特點(diǎn),確定本課題的研究內(nèi)容。從多自由度超聲電機(jī)的驅(qū)動(dòng)足運(yùn)動(dòng)軌跡入手,提出一種基于矩形結(jié)構(gòu)彎振的多自由度電機(jī),電機(jī)定子為“十”字結(jié)構(gòu),由四個(gè)矩形振子組成而成。每個(gè)振子通過彎振陶瓷片激發(fā)彎曲振動(dòng),利用兩垂直方向的復(fù)合激勵(lì)驅(qū)動(dòng)電機(jī)轉(zhuǎn)子任意方向轉(zhuǎn)動(dòng)。建立電機(jī)定子模型,對定子進(jìn)行模態(tài)分析,找到電機(jī)所需的三種模態(tài);對定子進(jìn)行諧響應(yīng)分析,比較振子彎振、縱振時(shí)的驅(qū)動(dòng)足振幅,分析結(jié)果表明利用矩形結(jié)構(gòu)的彎振振幅更大;通過定子結(jié)構(gòu)的優(yōu)化設(shè)計(jì),將模態(tài)頻率差縮小到50Hz以內(nèi),確定電機(jī)的結(jié)構(gòu)參數(shù)。分析理想夾持應(yīng)滿足的條件,對柔性夾持帶來了“機(jī)械漂移”現(xiàn)象進(jìn)行研究,實(shí)驗(yàn)對比結(jié)果表明,采用直梁式夾持后,“漂移”得到明顯的緩解。在多自由度超聲電機(jī)中,對夾持做出設(shè)計(jì)和改進(jìn),采用直圓型柔性鉸鏈作為夾持。對電機(jī)進(jìn)行整體設(shè)計(jì),制作樣機(jī),并進(jìn)行實(shí)驗(yàn)研究。實(shí)驗(yàn)結(jié)果表明,電機(jī)在運(yùn)行性能良好,在400V電壓下,對角兩振子驅(qū)動(dòng)時(shí),轉(zhuǎn)子最大轉(zhuǎn)速為0.27r/s;四振子共同驅(qū)動(dòng)時(shí),最大轉(zhuǎn)速為0.41r/s。該電機(jī)結(jié)構(gòu)簡單,輸出轉(zhuǎn)速快,具有較好的應(yīng)用前景。
[Abstract]:Multi-degree-of-freedom ultrasonic motor is a new type of motor which is developed on the basis of single-degree-of-freedom motor. It has a wide application prospect in medical equipment, precision equipment, monitoring equipment, robot and other fields. However, there is still a lack of deep and systematic research on multi-degree-of-freedom ultrasonic motor. In view of the existing problems, this paper proposes a four-vibrator multi-degree-of-freedom ultrasonic motor based on rectangular bending vibration. The main research work is as follows: the research status of multi-degree-of-freedom ultrasonic motor is summarized, the characteristics of all kinds of motors are analyzed, and the research content of this subject is determined. Based on the track of the driving foot of the multi-degree-of-freedom ultrasonic motor, a multi-degree-of-freedom motor based on the bending vibration of a rectangular structure is proposed. The stator of the motor is a "ten-word" structure, which is composed of four rectangular oscillators. Each vibrator excites the bending vibration through the bending ceramic plate, and drives the rotor rotation in any direction by using two perpendicular direction compound excitation. The stator model of the motor is established, and the modal analysis of the stator is carried out to find the three modes needed by the motor, and the harmonic response of the stator is analyzed to compare the amplitude of the drive foot when the vibrator is bending and longitudinal vibration. The results show that the bending vibration amplitude of the rectangular structure is larger and the modal frequency difference is reduced to less than 50 Hz through the optimal design of the stator structure to determine the structural parameters of the motor. By analyzing the conditions which should be satisfied by ideal clamping, the phenomenon of "mechanical drift" brought by flexible clamping is studied. The experimental results show that the "drift" is obviously alleviated by using straight beam clamping. The clamping is designed and improved in multi-degree-of-freedom ultrasonic motor, and the straight circular flexure hinge is used as clamping. The whole design of the motor is carried out, the prototype is made, and the experimental research is carried out. The experimental results show that the performance of the motor is good. Under 400V voltage, the maximum speed of rotor is 0.27 r / s when driven by diagonal two vibrators, and the maximum speed is 0.41 r / s when the four vibrators drive together. The motor has the advantages of simple structure, fast output speed and good application prospect.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TM359.9

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本文編號：2095351