多自由度超声电机构建腕关节结构关键问题的研究

发布时间：2018-03-17 20:45

本文选题：超声电机　切入点：振子　出处：《机械设计与制造》2017年11期 　论文类型：期刊论文

【摘要】：这里分别从杆式多自由度超声电机振子的动力学特性设计方法、定转子之间的预压力加载以及确保电机球形转子在关节结构中三自由度运动的结构形式设计等三个方面对基于杆式多自由度超声电机构建机器人腕关节结构进行了相关的研究。针对当前在杆式多自由度超声电机振子的动力学特性设计方法上的不足,提出了在有限元模型中应考虑接触和螺栓预紧力在振子动力学特性中的影响因素,并通过实验验证了该方法的正确性,在腕关节的结构设计方面,通过增设转向环及其转轴与球形转子转轴的垂直交叉布置,巧妙的实现了关节三自由度的运动及电机定、转子之间的预压力的加载、可调。该结构简单、轻巧灵便,对机器人的微型化、轻量化具有积极的意义。
[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.
【作者单位】：郑州大学机械工程学院;
【基金】：机械结构力学及控制国家重点实验室开放课题项目(MCMS-0314G02) 河南省基础与前沿技术研究项目(152300410040)
【分类号】：TM359.9;TP242

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