基于柔性板簧的三自由度球形超声波电机静力学建模与分析  

Statics Modeling and Analyzing of Three-Degree-of-Freedom Spherical Ultrasonic Motors with the Spiral Spring

作　　者：王剑[1] 胡锡幸[2] 郭吉丰[1] 

机构地区：[1]浙江大学电气工程学院,杭州310027 [2]国网浙江省电力公司杭州供电公司,杭州310009

出　　处：《电工技术学报》2014年第3期125-131,共7页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金资助项目(51107111)

摘　　要：多自由度球形超声波电机具有机械集成度高、分辨率高和无电磁干扰等独特优势,在微型机器人、医疗设备和监控探测等领域具有广阔的应用前景。为了提升多自由度电机的容差性和自适应调节能力,提出了一种基于柔性板簧的三自由度球形超声波电机,从电机定、转子空间位置和几何结构关系出发建立了电机的静力学模型,可分析电机各种结构参数对接触圆周的力分布影响。通过电机的算例分析,证明柔性板簧具有自适应的调节能力,可为电机定、转子提供较均匀的预紧力。研究成果对三自由度球型超声波电机的优化设计与性能提升具有指导意义。Multi-degree-of-freedom ultrasonic motors with advantages of high mechanical integration, high resolution and anti-EMI, are widely used in the fields of micro-robotics, medical equipment, monitoring and detecting. In order to improve the tolerance and adaptive capacity of three-degree-of-freedom（3-DOF） spherical ultrasonic motor, a spiral spring as preload applied component is designed in this work. The statics model of 3-DOF motor is built up from spatial geometric relations between three annular stators and the spherical rotor. The model is used to analyze the force distribution influence of different structural parameters on the contact circumference. The results of numerical simulation show that the spiral spring has the a.daptive ability to provide uniform preload. The research can guide the optimal design and performance improvement of the 3-DOF motor.

关 键 词：三自由度 球形电机 超声波电机 柔性板簧 静力学模型 

分 类 号：TM356[电气工程—电机]