本文選題：超聲電機(jī)　切入點(diǎn)：振子　出處：《機(jī)械設(shè)計(jì)與制造》2017年11期 　論文類(lèi)型：期刊論文

【摘要】：這里分別從桿式多自由度超聲電機(jī)振子的動(dòng)力學(xué)特性設(shè)計(jì)方法、定轉(zhuǎn)子之間的預(yù)壓力加載以及確保電機(jī)球形轉(zhuǎn)子在關(guān)節(jié)結(jié)構(gòu)中三自由度運(yùn)動(dòng)的結(jié)構(gòu)形式設(shè)計(jì)等三個(gè)方面對(duì)基于桿式多自由度超聲電機(jī)構(gòu)建機(jī)器人腕關(guān)節(jié)結(jié)構(gòu)進(jìn)行了相關(guān)的研究。針對(duì)當(dāng)前在桿式多自由度超聲電機(jī)振子的動(dòng)力學(xué)特性設(shè)計(jì)方法上的不足,提出了在有限元模型中應(yīng)考慮接觸和螺栓預(yù)緊力在振子動(dòng)力學(xué)特性中的影響因素,并通過(guò)實(shí)驗(yàn)驗(yàn)證了該方法的正確性,在腕關(guān)節(jié)的結(jié)構(gòu)設(shè)計(jì)方面,通過(guò)增設(shè)轉(zhuǎn)向環(huán)及其轉(zhuǎn)軸與球形轉(zhuǎn)子轉(zhuǎn)軸的垂直交叉布置,巧妙的實(shí)現(xiàn)了關(guān)節(jié)三自由度的運(yùn)動(dòng)及電機(jī)定、轉(zhuǎn)子之間的預(yù)壓力的加載、可調(diào)。該結(jié)構(gòu)簡(jiǎn)單、輕巧靈便,對(duì)機(jī)器人的微型化、輕量化具有積極的意義。
[Abstract]:In this paper, the design methods of the vibration characteristics of multi-degree-of-freedom ultrasonic motor are presented. The structure design of robot wrist joint based on multi-degree-of-freedom ultrasonic motor is carried out from three aspects: preloading between stator and rotor and structural design of three-degree-of-freedom motion of motor spherical rotor in joint structure. Aiming at the deficiency of the design method of the vibration characteristics of multi-degree-of-freedom ultrasonic motor at present, It is suggested that the influence factors of contact and bolt pretension force on the dynamic characteristics of the vibrator should be taken into account in the finite element model. The correctness of the method is verified by experiments, and the structural design of wrist joint is proved. By adding the steering ring and the vertical cross arrangement between the rotary shaft of the spherical rotor and the steering ring, the motion of the joint with three degrees of freedom and the loading of the pre-pressure between the motor and the rotor are skillfully realized. It is of positive significance to the miniaturization and lightweight of the robot.
【作者單位】： 鄭州大學(xué)機(jī)械工程學(xué)院;
【基金】：機(jī)械結(jié)構(gòu)力學(xué)及控制國(guó)家重點(diǎn)實(shí)驗(yàn)室開(kāi)放課題項(xiàng)目(MCMS-0314G02) 河南省基礎(chǔ)與前沿技術(shù)研究項(xiàng)目(152300410040)
【分類(lèi)號(hào)】：TM359.9;TP242

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本文編號(hào)：1626405