面向柔性钳位型尺蠖致动器提速驱动的协同切换控制  

Collaborative switching control for improved-speed driving of flexible clamp-type inchworm actuator

作　　者：孟令臣 闫鹏[1,2] 刘鹏博[3] 张志名 MENG Lingchen;YAN Peng;LIU Pengbo;ZHANG Zhiming(School of Mechanical Engineering,Shandong University,Jinan 250061,China;Key Laboratory of High-efficiency and Clean Mechanical Manufacture of the Ministry of Education,Jinan 250061,China;School of Mechanical Engineering,Qilu University of Technology(Shandong Academy of Sciences,Jinan 250353,China;School of Mechanical and Electrical Engineering,Jining University,Qufu 273155,China)*Corresponding author,E-mail:[e-mail])

机构地区：[1]山东大学机械工程学院,山东济南250061 [2]高效洁净机械制造教育部重点实验室,山东济南250061 [3]齐鲁工业大学(山东省科学院)机械工程学院,山东济南250353 [4]济宁学院机电工程学院,山东曲阜273155

出　　处：《光学精密工程》2025年第1期96-106,共11页Optics and Precision Engineering

基　　金：山东省自然科学基金重大基础研究项目(No.ZR2019ZD08);山东省重点研发计划(重大科技创新工程)资助项目(No.2023CXGC010207)。

摘　　要：研究了一类柔性钳位型尺蠖致动器的钳位-驱动协同机制和控制方法,提出一种基于实时钳位状态信息的高速钳位切换策略。该策略利用柔性钳位机构的寄生运动信息缩短钳位交替时间,获得相同设计下更高的驱动速度。依据柔性钳位型尺蠖致动器的结构配置,建立钳位机构的寄生运动静力学模型,并完成仿真验证。进一步分析基于实时钳位状态信息的钳位切换机理,完成基于实时钳位切换的驱动设计,搭建实验系统进行测试验证。实验结果表明:单步切换时间缩短了28%,在相同设计与驱动电压斜率下,连续多步驱动速度可提升33.6%。在合理误差范围内,实验结果验证了理论推导与仿真分析的准确性。该驱动策略可有效减小尺蠖驱动的单周期时间,实现连续稳定驱动,最终达成尺蠖致动器驱动速度的提升。This study explores the clamping-driving coordination mechanism and control strategies for flexible clamp-type inchworm actuator,introducing an innovative high-speed clamping switching method based on real-time clamping state information.By utilizing the parasitic motion characteristics of the flexi-ble clamping mechanism,the proposed strategy minimizes clamping alternation time,thereby achieving higher driving speeds under identical design parameters.A static model of the parasitic motion of the clamping mechanism was first established based on the actuator's configuration and verified through simula-tions.The real-time clamping switching mechanism was subsequently analyzed,leading to the develop-ment of a driving strategy incorporating real-time clamping state feedback.An experimental setup was con-structed to validate the theoretical model and simulation results.Experimental findings demonstrate that the proposed strategy reduces single-step switching time by 28%and increases continuous multi-step driv-ing speed by 25%under the same design and driving voltage conditions.These results confirm the accura-cy of the theoretical and simulation analyses within an acceptable margin of error.The proposed strategy significantly reduces the single-cycle operating time of the inchworm actuator,enabling continuous and sta-ble actuation while substantially enhancing driving performance.

关 键 词：柔顺机构 尺蠖致动器 寄生运动 协同切换控制 

分 类 号：TH703[机械工程—仪器科学与技术]