直线超声波电动机嵌入式机器人手指驱动实验研究  

Experimental Study of Piezoelectric Ultrasonic Linear Motor Embedded Driving Robot Finger

作　　者：章成武 张露[1] 李朝东[1] 

机构地区：[1]上海大学,上海200072

出　　处：《微特电机》2016年第9期26-28,32,共4页Small & Special Electrical Machines

基　　金：国家自然科学基金项目(51577112)

摘　　要：首先介绍了卧板式直线超声波电动机的结构和工作原理,按照嵌入驱动的思路进行了一款二指机械手的机构设计和受力分析,制作了样机。经过实验考察了该机械手的夹持物体能力,验证了卧板式直线型超声波电动机应用在机器人手指上的可行性。The structure and working principle of a board- type horizontal piezoelectric linear ultrasonic motor were introduced. According to the idea of embedded driving,the structure design and the force analysis of a two- finger manipulator was carry out,and its prototype was proposed. The experiment demonstrates the ability of its griping object,and the feasibility that board- type horizontal linear ultrasonic motor can be used to drive the robot finger.

关 键 词：压电超声波直线电动机 嵌入式驱动 二指机械手 机构设计 搓捏动作 

分 类 号：TM359.4[电气工程—电机]