压电陶瓷驱动微小型步行机的设计与仿真研究  

Design and Simulation Research of a Miniature Robot Driven by Piezoelectric Actuator

作　　者：秦振[1] 阎绍泽[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084

出　　处：《机械设计与研究》2004年第4期15-17,共3页Machine Design And Research

基　　金：国家自然科学基金资助项目(59905016);清华大学机械工程学院重点研究基金资助项目

摘　　要：为适应微细操作的需要,研制了一种压电陶瓷驱动的微小型步行机样机。该样机利用仿生蠕动原理,能方便地实现平面上三自由度运动。分析了步行机的移动机理及结构组成。基于ADAMS的动力学仿真结果分析了各种因素(包括步行机与运动平面的摩擦状况、激励电压的幅值和频率等)对步行机运动的影响。仿真结果表明了运动的可行性。According to the needs of micro-manipulation,a prototype of miniature robot driven by piezoelectric actuator is designed.Based on the inchworm principle,the robot can easily achieve movements with three DOF.The article analyses the mobile mechanism and characteristics of the whole structure.From the result of dynamic simulation,factors which affect the movement of miniature robot are analyzed such as friction between miniature robot and ground on which it moves,trigger pulse amplitude and frequency.The simulation results also indicate the feasibility of movements.

关 键 词：微细操作 微小型步行机 压电陶瓷 仿生蠕动 

分 类 号：TH13[机械工程—机械制造及自动化]