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。
In this paper, studies on the construction of robot wrist joint structure based on the Rod-type ultrasonic motor with MDOF are carried out from three aspects ： the design method of dynamic characteristics of motor vibrator, pre-tightening force loading between stator and rotor, the mechanism to ensure the three degrees of freedom movement of the motor spherical rotor in the joint structure. With regard to the deficiency of the design method of dynamic characteristics, the influence of contact and bolt pre-tightening force on dynamic characteristics of motor vibrator are considered in the finite element model. The correctness of this method is verified by experiments. In the stntctttral design of wrist joint, the three degrees of freedom movement of joint and pre-tightening force loading between stator and rotor are peeectly realized, by the vertical cross arrangement between the steering ring and spherical rotor shaft. It has the positive significance for the miniaturization and lightweight of robot, owing to these advantages of simple structure, convenient operation.
出处
《机械设计与制造》
北大核心
2017年第11期1-4,共4页
Machinery Design & Manufacture
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)
关键词
超声电机
振子
多自由度
腕关节
Ultrasonic Motor
Vibrator
Multi-Degree-of-Freedom
Wrist Joint
