Hexapod Actuator Based on Piezoelectric Drive and Its Working Method

Abstract

The invention discloses a piezoelectric driving-based six-leg actuator and a working method thereof, and relates to the fields of ultrasound, MEMS and piezoelectricity. Conventional motion on a planecan be achieved, and the motion capability after overturning also can be maintained. The actuator comprises a lead screw, a first phosphor bronze matrix, a titanium alloy matrix, a second phosphor bronze matrix, metal legs, a phosphor bronze round ring, an annular piezoelectric ceramic sheet, a first piezoelectric ceramic sheet group and a second piezoelectric ceramic sheet group. The working modeof the actuator comprises a normal working mode and an overturning working mode. Due to the structure characteristic of the device, the conventional motion on the plane can be achieved, the functionof maintaining the motion capability after overturning under a force majeure effect of the outside also is achieved, the device can be applied to an unstable environment to a certain extent, and meanwhile, the device has a certain develop prospect in the field of a miniature robot.

Description

technical field [0001] The invention relates to the fields of ultrasound, MEMS and piezoelectric technology, and in particular to a piezoelectric-driven hexapod actuator and a working method thereof. Background technique [0002] Actuator is a key component to implement active vibration control and an important part of active control system. The role of the actuator is to exert control force on the control object according to the determined control law. In recent years, on the basis of traditional fluid actuators, gas actuators and electrical actuators, many intelligent actuators have been researched and developed, such as piezoelectric ceramic actuators, piezoelectric film actuators, Electrostrictive actuators, magnetostrictive actuators, shape memory alloy actuators, servo actuators and electrorheological fluid actuators, etc. At the same time, in the field of aerospace, the actuator is the executive mechanism of the aircraft control system and an important part of the f...

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Problems solved by technology

[0003] However, the actuators in the prior art need to be able to work in a stable environment, and they lose their ability to move after overturning and cannot complete the predetermined action.

[0004] Therefore, there is a lack of an actuator in the prior art, which can still maintain the function of movement ability after tipping over under the action of external force majeure, and can be applied in a certain degree of unstable environment

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