Multi-free degree ultrasonic wave electromotor based on piezoelectric porcelain cut strain

Abstract

The invention provides a multi-degree-of-freedom ultrasonic motor based on piezoelectric ceramic shear strain. It includes a rotor, a stator and a clamping base. The stator is composed of a vibrator column and four pieces of piezoelectric ceramics pasted on the four sides of the vibrator column. The electrodes on the upper layer of each piece of piezoelectric ceramics are composed of four equal parts, and the electrodes on the lower layer are integrated. The poles and stator are clamped on the base by clamping screws. In the present invention, the four-part piezoelectric ceramic is pasted on the vibrator column by glue to realize the necessary vibration modes of the multi-free ultrasonic motor, and by applying the excitation signal on the appropriate electrode, the shear strain of the piezoelectric ceramic is used. effect produces the vibrational modes described above. Therefore, under the effect of vibration superposition, the elliptical motion of the stator end particle pushes the rotor to produce independent rotations around the x-axis, y-axis, and z-axis, and further rotation around any direction axis is realized by switching the above-mentioned orthogonal rotation.

Description

(1) Technical field [0001] The invention relates to a motor, in particular to a special motor device. (2) Background technology [0002] With the development of science and technology, various fields such as industry, medical treatment, and military affairs urgently need brakes that can complete complex multi-degree-of-freedom movements. The use of these actuators can realize the simulation of human neck, shoulder, hip and other joint movements in bionics. In medical aspects, endoscopes and manipulators that can rotate in any direction in the body can be realized, as well as in industry and military. Create more flexible robot end effectors, etc. [0003] Traditionally, these tasks must be achieved through a series of motors plus complex mechanisms, and the number of motors in the device must be greater than or equal to the number of degrees of freedom that need to be completed. This usually results in bulky equipment and increased weight, which is not suitable for applica...

AI Technical Summary

Problems solved by technology

The stator of the motor designed in this way needs to be divided into several parts for processing and then assembled together, so the processing and assembly will inevitably have a certain impact on the vibration mode of the stator; in addition, the size and shape of the driving piezoelectric ceramics of the motor are not exactly the same , the drive circuit design process must be designed for each part separately, increasing the complexity of the drive circuit design

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