机电集成压电谐波传动系统

Piezo motors have been used in the fields such as drive of the arm joints for the robot landing in Mars. It is the piezo drive type studied deeply. The friction drive between the stator and the rotor is a weak link of the piezo motors which limits the output torque and the operating life. Therefore, the applicant proposes an electromechanical integrated harmonic piezodrive system in which the piezodrive principle is combined with the harmonic drive and the movable tooth drive principles, and a reduction ratio is realized. It causes a significant increase of the output torque as well as increase of the operating life and efficiency. Here, the theory and the key technique basis of the novel drive system will be investigated. It includes electromechanical coupled dynamics of the drive system, laws of the energy conversion and power transmission from the piezo energy to the kinetic energy of the rotor, the drive mechanism of the drive system, the integrated theory of the system structure, the electromechanical coupled dynamic responses and their changes along with the control parameters, the integrated optimum theory considering drive, transmission and control behaviors of the system simutaneously, manufacturing technology of the key elements, design, manufacture and test of the prototype. The study can lay a theory and technique foundation for design, analysis and performance control of the drive system.

压电马达已成功应用于火星登陆机器人手臂关节驱动等诸多领域，属研究最为深入的压电驱动方式，定转子间的摩擦驱动是压电马达的薄弱环节，限制了其输出力矩和工作寿命。为此，申请者提出一种机电集成压电谐波传动系统，拟将压电驱动原理与谐波传动以及活齿传动原理有机结合，以啮合传动代替定转子间的摩擦驱动，并可以实现一定的减速比，预期在提高系统工作效率和寿命的同时，可以大幅度提升其输出力矩。本项申请拟研究该种新型传动系统的基础理论和关键技术基础，完成其机电耦合动力学研究，揭示压电能与转子动能之间的能量转换和功率传递规律，给出传动系统的驱动及传动机理；研究传动系统的机电结构集成原理，分析其机电耦合动态性能及其随控制参量的变化响应规律，建立该系统驱动、传动及控制的集成优化理论；完成该传动系统关键零部件制造工艺研究、样机设计、加工及性能试验。为该种传动系统的性能评价、设计及制造奠定理论和技术基础。

压电马达已成功应用于火星登陆机器人手臂关节驱动等诸多领域，属研究最为深入的压电驱动方式，定转子间的摩擦驱动是压电马达的薄弱环节，限制了其输出力矩和工作寿命。为此，申请者提出一种机电集成压电谐波传动系统，将压电驱动原理与谐波传动以及活齿传动原理有机结合，以啮合传动代替定转子间的摩擦驱动，并可以实现一定的减速比，在提高系统工作效率和寿命的同时，可以大幅度提升其输出力矩。本项目研究了该种新型传动系统的基础理论和关键技术基础，完成了其机电耦合动力学研究，揭示了压电能与转子动能之间的能量转换和功率传递规律，给出了传动系统的驱动及传动机理；研究了传动系统的机电结构集成原理，分析了其机电耦合动态性能及其随控制参量的变化响应规律，建立了该系统驱动、传动及控制的集成优化理论；完成了该传动系统关键零部件制造工艺研究、样机设计、加工及性能试验。为该种传动系统的性能评价、设计及制造奠定了理论和技术基础。