高精度压电旋转驱动器的研制  

RESEARCH ON PIEZOELECTRICAL ROTARY ACTUATOR WITH HIGH PRECISION

作　　者：杨宜民[1] 李传芳[1] 周学才[1] 李医民 

机构地区：[1]广东工学院机器人研究所

出　　处：《机器人》1995年第6期321-324,共4页Robot

基　　金：国家863计划资助

摘　　要：本文提出一种新型旋转驱动器的仿生动作原理，并设计出基于这一原理的驱动器结构及其控制器．驱动器的定子呈圆筒状；转子呈灯笼状，由带压电元件、圆弧缺口支点的一体化机构所组成。驱动器的控制器中有电流环、变位环及校正环节等．这种旋转驱动器具有精度高、步距范围宽、无级可调、内藏传感器、输出性能好及抗负载扰动能力强等特点．This paper proposes a bionical working principle of a new rotary actuator. Based on this princi- ple,its structure and controller are designed. The stator of the acturator has the shape of a cylinder;Its ro- tator has the shape of a lantern,which is composed of piezoelectrical elements(PZT)and circular notchedmechanism. The controller includes current loop,position loop,correcting loop, etc. It has many advantagessuch as high precision,wide stepping range(steplessly adjustable),inner sensor,perfect output characteris-tics and powerful ability to resist load interference.

关 键 词：旋转驱动器 压电旋转驱动器 自动化设备 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]