基于球形超声电机的仿生眼的设计和仿真（英文）  

Design and Simulation of a Bionic Eye Based on Spherical Ultrasonic Motor

作　　者：罗均[1] 黄潮炯[1] 李恒宇[1] 谢少荣[1] 张友民[2] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072 [2]加拿大康考迪亚大学机械与工业工程学院

出　　处：《新型工业化》2013年第7期98-105,共8页The Journal of New Industrialization

基　　金：国家自然科学基金(No.50975168)

摘　　要：视觉系统是自主机器人的核心。为了实现类似人眼复杂运动的一些视觉运动,如目标跟踪、图像稳定和前庭动眼发射,我们设计了一套基于球形超声电机(SUSM)的,具有三个旋转自由度机器人仿生眼机构。球形超声电机具有结构紧凑,占空间小,响应快,定位精度高,低速时转矩大,磁场兼容性强等特点。因此基于球形超声电机的仿生眼可以有效解决机器人工作时的视觉不稳定问题。本仿生眼由三个背面粘有若干压电陶瓷片的环形定子和作为摄像头驱动器的球形转子组成。三个定子内的特制螺旋弹簧变形后产生三个相同的压紧力后,然后通过摩擦传动驱动转子振动。通过对本仿生眼虚拟样机的仿真,分析了其旋转速度、旋转力矩和响应时间等,从而初步证明本设计的合理性和有效性。Vision system is crucial for autonomous robots. In order to realize some visual performances by complicated eye movements, like tracking target, image stabilization and vestibulo-ocular reflex, we present the mechanism and simulation of a robot bionic eye based on spherical ultrasonic motor(SUSM) with three rotational degrees of freedom(3-DOF). SUSM is a compact mechanism occupying little space but good responsiveness, high positioning accuracy, high torque at low speed and strong magnetic field compatibility. So based on SUSM, the bionic eye is fit to solve the problem of vision instability during robots' working. The bionic eye is constructed of three annular stators adhered with several piezoelectric elements and a spherical rotor as a camera actuator. The rotor is driven by frictional forces from the three stators accompanying with same preload generated by the deformations of specialized coil springs. Through simulation by a virtual prototype to analyze the rotational speed, torque and responsiveness, our mechanical design is verified to be reasonable and effective preliminary.

关 键 词：机械电子工程 仿生眼 球形球形超声电机 三自由度 机械设计 仿真分析 

分 类 号：TH112[机械工程—机械设计及理论] TB17[生物学—生物工程]