2自由度球形行波型超声波电动机的特性计算模型  

Mechanical Characteristics Calculation of 2-DOF Spherical Traveling-wave Type Ultrasonic Motor

作　　者：胡锡幸[1] 郭吉丰[1] 傅平[2] 沈润杰[1] 

机构地区：[1]浙江大学电气工程学院,杭州310027 [2]闽江学院物理与电子信息工程系,福州350108

出　　处：《机械工程学报》2009年第3期229-233,共5页Journal of Mechanical Engineering

基　　金：国家高技术研究发展计划资助项目(863计划,2006AA04Z229)

摘　　要：理论和试验研究2自由度行波型超声波电动机的机械特性计算问题。分析2自由度行波型超声波电动机空间结构关系和定转子接触面的摩擦力。利用空间位置关系,计算得到了行波定子和球转子接触面上任一点的摩擦驱动力和摩擦阻力。根据运动稳定时行波定子轴向力平衡关系,推导给出2自由度球形行波型超声波电动机的特性计算解析式。通过研制的样机进行理论和试验分析,证实计算模型有效性和准确性,并分析各种电动机参数对输出机械特性的影响。研制的样机实现最大堵转转矩达0.10N·m,空转转速为90r/min左右。研究工作为下一步球形行波型超声波电动机的设计、优化和控制提供了理论基础。The mechanical characteristics calculation of traveling-wave ultrasonic motor with two degrees of freedom is investigated theoretically and experimentally. The space structure relations of traveling-wave ultrasonic motor with two degrees of freedom and the friction force on the contact surface of stator and rotor are analyzed. By using space position relations, the friction driving force and friction resistance at an arbitrary point on the contact surface of traveling-wave and spherical rotor are obtained through computation. Then the analytical expression of mechanical characteristics calculation is deduced on the basis of the axial force balance relation of traveling-wave stator when the motion is stable. The validity and veracity of the model is verified by theoretical and experimental analysis of the developed motor, and the influence of motor parameters on the output mechanical characteristics is analyzed. The maximum brake torque of developed motor reaches 0.10 N·m, the idle speed is 90 r/min. This research work lays a theoretical foundation for the next design, optimization and control of spherical traveling type ultrasonic motors.

关 键 词：球形超声波电动机 2自由度 摩擦驱动 机械特性 数学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]