A two-degree-of-freedom piezoelectric motor and its control method
A technology of piezoelectric motors and degrees of freedom, applied in piezoelectric effect/electrostrictive or magnetostrictive motors, generators/motors, electrical components, etc., can solve problems such as complex control and heavy weight of two-degree-of-freedom motors
Active Publication Date: 2020-02-11
FUJIAN UNIV OF TECH
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[0003] The embodiment of the present application provides a two-degree-of-freedom piezoelectric motor and its control method, which solves the problems of heavy weight and complicated control of the two-degree-of-freedom motor used in robots in the prior art
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[0033] In order to better understand the above-mentioned technical solution, the above-mentioned technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.
[0034] First, a brief description of the piezoelectric motor is given. The piezoelectric motor uses the inverse piezoelectric effect of piezoelectric ceramics to generate vibration, and the elastic body connected to it is excited to generate vibration together. Through this vibration, other objects are driven to move. The piezoelectric motor has Output low speed and high torque characteristics.
[0035] This embodiment provides a two-degree-of-freedom piezoelectric motor, such as Figure 1-3 As shown, it includes: a first substrate 1, a second substrate 2, a connecting column 3, and a spherical rotor 9; the first substrate 1 and the second substrate 2 are connected through the connecting column 3, and the first substrate 1 coincides with the cen...
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The invention belongs to the technical field of piezoelectric motors, and discloses a two-degree-of-freedom piezoelectric motor and a control method thereof. The piezoelectric motor comprises a firstsubstrate, a second substrate, a connecting column and a spherical rotor; the first substrate and the second substrate are connected through the connecting column; the central vertical lines of the first substrate and the second substrate coincide; the first substrate is of a square sheet structure, and four piezoelectric ceramic pieces are adhered to the first substrate; the second substrate comprises a square sub-plate and a protruding cross-shaped sub-plate, four piezoelectric ceramic pieces are adhered to the square sub-plate, and a plurality of driving feet are distributed; and the protruding cross-shaped sub-plate comprises four resonant frequency adjusting structural ends used for adjusting a second-order resonance frequency of the second substrate to enable an absolute value of a difference value between the second-order resonance frequency of the second substrate and a second-order resonance frequency of the first substrate to be smaller than a preset value. The piezoelectricceramic pieces are excited to achieve two-degree-of-freedom rotation. The problems that in the prior art, a two-degree-of-freedom motor used for a robot is relatively heavy and relatively complex to control are solved.
Description
technical field [0001] The invention relates to the technical field of piezoelectric motors, in particular to a two-degree-of-freedom piezoelectric motor and a control method thereof. Background technique [0002] Small and exquisite robots have high precision, moderate movement speed, and simple structure requirements for driving motors. If a traditional electromagnetic motor is used to drive, a reducer needs to be used to reduce the speed, and each degree of freedom needs a motor. In addition, there are already two-degree-of-freedom piezoelectric motors for robots, but most of the current two-degree-of-freedom motors are driven by rod-type composite modes, that is, circular piezoelectric ceramics are installed on different parts of the long rod, and piezoelectric The inverse piezoelectric effect of ceramics makes the rod piezoelectric motor generate longitudinal vibration and torsional vibration along the axis, and the two composite drives the rotor to move in two directio...
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IPC IPC(8): H02N2/10H02N2/14
Inventor 彭晋民郑伟余罗兼周景亮罗敏峰
Owner FUJIAN UNIV OF TECH