Sandwich type piezoelectric driving two-degree-of-freedom mechanical arm and driving method thereof

By designing a sandwich piezoelectric second degree of freedom robot arm, using first-order longitudinal vibration single-mode drive and simple and compact structure, the problem of complex structure and frequency drift of the robot arm in special environments is solved, and high-precision and diversified applications are achieved robotic arm design.

CN119188841APending Publication Date: 2024-12-27NANJING INST OF TECH
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Patent Information

Application Number
CN202411544473.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-10-31
Publication Date
2024-12-27

AI Technical Summary

Technical Problem

When used in special environments, existing robotic arms have complex structures, large volumes, and difficult to control speed accuracy. The frequency drift of the piezoelectric driver after wear causes performance degradation, making it difficult to achieve miniaturization and modular design.

Method used

A sandwich piezoelectric two-degree of freedom robot arm is designed, adopting a simple and compact structure, and the unit arm section is composed through two piezoelectric vibrators and joint parts, and the first-order longitudinal vibration single-mode drive is used, with simple harmonic driving signal and π /2 phase difference is excitated for a specific frequency, achieving two degrees of freedom rotation, and enabling connection and positioning through threaded fit and double hook spring.

Benefits of technology

It achieves compact structure, high control accuracy, and easy to miniaturize, reduces the limitations on the design size and shape, adapts to different application scenarios, and has important application prospects.

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Abstract

The invention provides a sandwich type piezoelectric driving two-degree-of-freedom mechanical arm and a driving method thereof, and relates to the field of piezoelectric driving and robots, the mechanical arm comprises a plurality of unit arm sections connected in sequence and connecting assemblies between the arm sections; each unit arm section comprises two piezoelectric vibrators; the spatial positions of the piezoelectric vibrators of each unit arm section and the adjacent unit arm section are mutually orthogonal, and orthogonal connection of the unit arm sections and application of pre-pressure are achieved through the connecting assemblies between the arm sections. The structure is compact and simple, miniaturization is easy to achieve, and the mechanical arm is high in control precision through the outage self-locking effect of the piezoelectric driving principle.
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