基于弯振的多自由度超声电机的研究

发布时间：2018-07-04 07:50

本文选题：多自由度超声电机 + 矩形结构　；参考：《南京航空航天大学》2016年硕士论文

【摘要】：多自由度超声电机是单自由度电机基础上发展起来的一种新型电机,在医疗设备、精密设备、监控设备、机器人等领域都有着广泛的应用前景。然而当前对多自由度超声电机还缺少深入、系统的研究,针对存在的问题,本文提出一种基于矩形结构弯振的四振子多自由度超声电机,并主要进行了以下研究工作:分类总结多自由度超声电机的研究现状,分析各类电机的特点,确定本课题的研究内容。从多自由度超声电机的驱动足运动轨迹入手,提出一种基于矩形结构弯振的多自由度电机,电机定子为“十”字结构,由四个矩形振子组成而成。每个振子通过弯振陶瓷片激发弯曲振动,利用两垂直方向的复合激励驱动电机转子任意方向转动。建立电机定子模型,对定子进行模态分析,找到电机所需的三种模态;对定子进行谐响应分析,比较振子弯振、纵振时的驱动足振幅,分析结果表明利用矩形结构的弯振振幅更大;通过定子结构的优化设计,将模态频率差缩小到50Hz以内,确定电机的结构参数。分析理想夹持应满足的条件,对柔性夹持带来了“机械漂移”现象进行研究,实验对比结果表明,采用直梁式夹持后,“漂移”得到明显的缓解。在多自由度超声电机中,对夹持做出设计和改进,采用直圆型柔性铰链作为夹持。对电机进行整体设计,制作样机,并进行实验研究。实验结果表明,电机在运行性能良好,在400V电压下,对角两振子驱动时,转子最大转速为0.27r/s;四振子共同驱动时,最大转速为0.41r/s。该电机结构简单,输出转速快,具有较好的应用前景。
[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.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TM359.9

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