基于柔性铰链的超磁致伸缩旋转驱动器角位移分析  

Angular displacement output of a giant magnetostrictive rotary actuator based on a flexible hinge

作　　者：周景涛 何忠波 柏果 刘国平 ZHOU Jingtao;HE Zhongbo;BAI Guo;LIU Guoping(Shijiazhuang Campus,Army Engineering University,Shijiazhuang 050003,China)

机构地区：[1]陆军工程大学石家庄校区,石家庄050003

出　　处：《振动与冲击》2020年第18期138-144,180,共8页Journal of Vibration and Shock

基　　金：国家自然科学基金(51275525)。

摘　　要：为满足大行程高精度角位移的需求,以尺蠖式运动为工作原理,设计了基于柔性铰链的超磁致伸缩旋转驱动器,通过上、下钳紧机构和驱动机构的配合,实现转子的角位移累积输出。将柔性铰链简化成超静定梁进行受力分析,确定其等效刚度,采用有限元法对刚度进行了模拟验证,模拟值和计算值吻合,最大相对误差为1.78%,进行模态分析和强度校核;根据电压定律、磁阻理论、线性压磁模型和动力学理论建立了角位移模型,搭建实验系统进行了实验测试。计算和实验结果表明:在工作电压和频率范围内,建立的角位移模型能准确的反映旋转驱动器的角位移输出,最大误差为8.55μrad,最大相对误差为4.52%。旋转驱动器的最小和最大单步角位移分别为111.93μrad和351.71μrad,角位移输出稳定,最大相对误差为4.83%。In order to meet the requirement of large stroke and high precision angular displacement,a giant magnetostrictive rotary actuator with a flexible hinge was designed based on the principle of inchworm movement.The flexure hinge was simplified to statically indeterminate beams,and its equivalent stiffness was determined.The stiffness was further verified by the finite element simulation.The simulated value and calculated value are finely consistent,and the maximum relative error of them is 1.78%.The modal analysis and strength check were carried out.According to the voltage law,magnetoresistance theory,linear piezomagnetic model and dynamic theory,an angular displacement model was established,and a corresponding experimental system was built for testing.By virtue of the results of calculation and experiment,it is shown that the established angular displacement model can accurately reflect the angular displacement output of the rotary actuator in the range of operating voltage and frequency,the maximum error is 8.55μrad and the maximum relative error is 4.52%.The minimum and maximum one-step angular displacements are 111.93μrad and 351.71μrad.The output of angular displacement is stable,and the maximum relative error is 4.83%.

关 键 词：超磁致伸缩 旋转驱动器 柔性铰链 角位移 等效刚度 

分 类 号：TH703.8[机械工程—仪器科学与技术]