Micro-angular displacement rotary robot
A robot and angular displacement technology, applied in the field of robotics, can solve the problems that the angular displacement is difficult to achieve small steps, and the robot motion posture cannot be realized.
Inactive Publication Date: 2016-11-09
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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Problems solved by technology
Due to structural limitations, it is difficult to achieve small steps in angular displacement; moreover, any transient motion in space is regarded as the synthesis of two basic postures of straight line and rotation, and the complex motion posture of the robot cannot be realized only by straight line motion.
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[0020] figure 1 It is a structural schematic diagram of the tentacle disc in the micro-angular displacement rotary robot of the present invention, figure 2 It is a structural schematic diagram of the friction base rod of the present invention, image 3 and Figure 4 It is a schematic diagram of the initial state and working state of the kinematic mechanism modeling of the present invention.
[0021] Depend on image 3 and Figure 4 Based on the analysis of the traditional inchworm's motion posture, the linear motion is transformed into a rotational motion, the original tentacles are changed into tentacle discs, and the base point is changed into a friction base rod. Excitement is applied to the first piezoelectric ceramic 14 in the tentacle disc, causing it to produce an inverse piezoelectric effect to expand its radius and make contact with the friction rod 25 . The friction base rods on both sides are driven in parallel and reverse feed through the second piezoelectric...
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The invention discloses a micro-angular displacement rotary robot. The micro-angular displacement rotary robot comprises a contact finger plate and two friction base rods, wherein the friction base rods are symmetrically arranged on the two sides of the contact finger plate; first piezoelectric ceramic actuators (14) are arranged in the contact finger plate, when excitation is exerted on the first piezoelectric ceramic actuators in the contact finger plate, the first piezoelectric ceramic actuators (14) generate the inverse piezoelectric effect, the radius of the contact finger plate is expanded, and then the contact finger plate makes contact with the friction base rods on the two sides; and the friction base rods on the two sides are driven by a second piezoelectric ceramic actuator (24) arranged internally to carry out parallel reverse feeding, static friction force generates torque, and then the contact finger plate is driven to generate angular displacement. According to the micro-angular displacement rotary robot of the structure, the conventional application of the inchworm effect in the MEMS research field is broken through, the inchworm motion mechanism is applied to the rotary motion after being modified, and the motion mechanism improving the high-accuracy angular displacement resolving ability breaks through the limitation of traditional rotary drive modes.
Description
technical field [0001] The invention relates to the field of robots, in particular to a small angular displacement rotary robot. Background technique [0002] At present, there are magnetostrictive, electrostrictive, electrostatic drive, electrorheological drive, shape memory alloy, and piezoelectric drive methods to realize micro-motion. Among them, the piezoelectric drive uses the inverse piezoelectric effect of the piezoelectric material to realize the fretting motion. It has the characteristics of large driving force, high positioning accuracy, fast response speed, no heat, no magnetic field, and simple structure, so it is more widely used. The inchworm-type piezoelectric drive is based on bionics, imitating the creeping posture of biological inchworms, that is, the tentacles and the base plate are alternately used as attachment points, and the body bends and straightens in turn to achieve the movement mechanism of advancing. At present, relevant institutions at home a...
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IPC IPC(8): B25J11/00
CPCB25J11/00
Inventor 奚琳时培成唐铃凤王海漆小敏裴九芳何慧娟刘莉
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE