CN106514699A - Three-degree-of-freedom manipulator joint and working mode thereof - Google Patents
Three-degree-of-freedom manipulator joint and working mode thereof Download PDFInfo
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- CN106514699A CN106514699A CN201611120079.7A CN201611120079A CN106514699A CN 106514699 A CN106514699 A CN 106514699A CN 201611120079 A CN201611120079 A CN 201611120079A CN 106514699 A CN106514699 A CN 106514699A
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- Prior art keywords
- bending vibration
- ceramic element
- piezo ceramic
- ring
- driving head
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a three-degree-of-freedom manipulator joint and a working mode thereof. The three-degree-of-freedom manipulator joint comprises at least two joint units, wherein each joint unit comprises an acting head, a metal mass block, a base, a longitudinal vibrating piezoelectric ceramic assembly, a first bending vibrating piezoelectric ceramic assembly, a second bending vibrating piezoelectric ceramic assembly, a pre-tensioning bolt, a spring chuck, a bottom cover, a spring and a contact block; the upper end joint unit is used for locking a driving head of the acting head of the lower end joint unit through the corresponding contact block and the corresponding spring chuck and can apply a certain pre-pressing force to the driving head of the lower end joint unit through the corresponding spring and the corresponding spring chuck; any two of the three groups of ceramic assemblies of the joint units can be correspondingly excited to generate two-phase vibration modes; the two-phase vibration modes are coupled through the driving heads of the acting heads so as to drive a material point to elliptically move, and thus the front end joint unit can rotate around X, Y and Z axes under the frictional effect. The three-degree-of-freedom manipulator joint is fast to respond, high in accuracy, simple in structure, and wide in prospect.
Description
Technical field
The present invention relates to ultrasonic start field, more particularly to a kind of Three Degree Of Freedom machine joints of hand and its working method.
Background technology
With developing rapidly for deep-sea detecting, space technology, mechanical assistance medical skill and automatic manufacturing technology, to machinery
The demand of handss is increasingly urgent, and traditional mechanical hand adopts traditional servomotor and cable structure, there is easily affected by magnetic fields, knot
Structure is complicated, the shortcomings of cable easily winds.
The content of the invention
The technical problem to be solved is for defect involved in background technology, there is provided a kind of three freely
Degree machine joints of hand and its working method.
The present invention is employed the following technical solutions for solving above-mentioned technical problem
A kind of Three Degree Of Freedom machine joints of hand, at least including two joint units, the joint unit is sequentially connected；
The joint unit includes start head, metallic gauge block, base, longitudinal vibration piezo ceramic element, the first bending vibration piezoelectric ceramics
Component, the second bending vibration piezo ceramic element, pretension bolt, collet, bottom, spring and contact block；
The start head includes driving head, connecting portion, ring flange and cylinder, and wherein, the driving head is spherical；The connecting portion
For continuous variable cross section structure, its section is circle, and its smallest cross-sectional and the lower end of driving head be fixedly linked, maximum cross-section and circle
The upper end of post is fixedly linked；The ring flange is arranged on the junction of the connecting portion and cylinder；
The axis of the start head is provided with the screwed hole being engaged with the pretension bolt；
The collet is upper end open, the cylinder of inner hollow, and its lower end is provided with the circle for pinning the driving head
Hole；
The base includes main body, the first retainer ring and the second retainer ring, and wherein, the main body is upper end open, lower end closed
Cylinder；First retainer ring, the second retainer ring are the cylinder of upper and lower opening, and the radius of first retainer ring is big
In second retainer ring；The bottom surface of the equal and described main body in upper end of first retainer ring and the second retainer ring is fixedly linked,
And main body, the first retainer ring, the second retainer ring are coaxially disposed；
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element
Cylinder is, is arranged on from top to bottom in the main body of the base successively；
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezoelectric ceramics group
Part, the bottom surface of base body are coaxially disposed and are equipped with axle center the through hole that passes through for pretension bolt；Pretension bolt is sequentially passed through
The bottom surface of base body, the second bending vibration piezo ceramic element, the first bending vibration piezo ceramic element, metallic gauge block, longitudinal vibration piezoelectricity
Screwed hole threaded connection on ceramic component and start head, by longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezoelectricity
Ceramic component, the second bending vibration piezo ceramic element are clamped between start head and the bottom surface of base body；
The bottom includes the first socket ring and bulge loop, and cylinder of the first socket ring for upper and lower opening, the bulge loop set
Put in the upper end of the described first socket ring, and the first socket ring is fixedly linked；
The bulge loop of the bottom is arranged between the first retainer ring, the second retainer ring, and the first retainer ring, the second retainer ring between
Groove interference connection；
The contact block includes connecting plate, the second socket ring and contact ring, and wherein, the second socket ring, contact ring are
The hollow cylinder of under shed；The lower end of the second socket ring is fixedly linked by the upper end of connecting plate and the contact ring, and
The second socket ring, contact ring are coaxially disposed；
The first socket ring and the second socket ring carry out gap cooperation by socket so that can go up between contact block and bottom
Lower slider；
Outside the described first socket ring and the second socket ring, the bulge loop of one end and the bottom offsets the spring housing, the other end
Offset with the connecting plate of the contact block；
The ring flange of the collet upper end and the start head is fixedly linked, and the circular hole of lower end pins coupled joint
The driving head of unit；
The driving head that the lower end and the collet for contacting ring in the contact block is pinned offsets；
The longitudinal vibration piezo ceramic element propagates to the driving head for producing longitudinal vibration；
The first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element are used to generation bending vibration and propagate to the driving
Head, and the first bending vibration piezo ceramic element produce bending vibration and the second bending vibration piezo ceramic element produce bending vibration spatially deposit
It is poor in pi/2 phase.
As a kind of further prioritization scheme of Three Degree Of Freedom machine joints of hand of the invention, the longitudinal vibration piezo ceramic element
Comprising two panels longitudinal vibration potsherd and a piece of electrode slice, electrode slice is clipped in the middle by the two panels longitudinal vibration potsherd, and the two panels is indulged
The potsherd that shakes is single polarization subregion, and it is outside that polarised direction is respectively perpendicular to electrode slice.
As a kind of further prioritization scheme of Three Degree Of Freedom machine joints of hand of the invention, the first bending vibration piezoelectric ceramics
Component, the second bending vibration piezo ceramic element include two panels bending vibration potsherd and a piece of electrode slice, the two panels bending vibration potsherd
Electrode slice is clipped in the middle, every bending vibration piezoelectric ceramic piece has the contrary polarization subregion of two polarised directions in left and right, and two panels
Bending vibration potsherd is contrary in the polarised direction of the polarization subregion of same one end.
The invention also discloses a kind of working method based on the Three Degree Of Freedom machine joints of hand, comprises the steps of：
For each joint unit, the centre of sphere for making its driving head is origin, the centre of sphere that makes its driving head is origin, start head
Axis is Z axis, crosses origin and parallel to two polarization subregions of arbitrary bending vibration potsherd in its first bending vibration piezo ceramic element
Between the straight line of boundary be Y-axis, cross origin and parallel to arbitrary bending vibration potsherd in its second bending vibration piezo ceramic element
The straight line of the boundary between two polarization subregions is X-axis；
Apply with the poor signal of telecommunication of pi/2 phase on its longitudinal vibration piezo ceramic element, the first bending vibration piezo ceramic element respectively,
The bending vibration along the extensional vibration of Z-direction and in the XOZ planes is inspired on stator modules, and extensional vibration and bending are shaken
Dynamic coupling makes the particle on driving head make elliptic motion in XOZ planes, and driving head drives rotor module by rubbing action
Rotate around Y-axis；
Apply with the poor signal of telecommunication of pi/2 phase on its longitudinal vibration piezo ceramic element, the second bending vibration piezo ceramic element respectively,
The bending vibration along the extensional vibration of Z-direction and in the YOZ planes is inspired on stator modules, and extensional vibration and bending are shaken
Dynamic coupling makes the particle on driving head make elliptic motion in YOZ planes, and driving head drives rotor module by rubbing action
Rotate around X-axis；
Apply with the poor electricity of pi/2 phase on its first bending vibration piezo ceramic element and the second bending vibration piezo ceramic element respectively
Signal, is inspired two flexural vibration modes spatially with pi/2 phase difference so that drive respectively on stator modules
Particle on head makees elliptic motion in XOY plane, and driving head drives rotor module to make 360 ° of rotations about the z axis by rubbing action
Turn.
The present invention adopts above technical scheme compared with prior art, with following technique effect：
1. simple structure, responds fast, high precision；
2. easy miniaturization, not by magnetic interference, manufactures in deep-sea detecting, space technology, mechanical assistance medical skill and automatically skill
There are bright prospects in art field.
Description of the drawings
Fig. 1 is a kind of structural representation of Three Degree Of Freedom machine joints of hand of the invention；
Fig. 2 is the structural representation of start head in the present invention；
Fig. 3 is the structural representation of collet in the present invention；
Fig. 4 is the cooperation figure of bottom, spring and contact block in the present invention；
Fig. 5 is the polarization mode schematic diagram of potsherd in longitudinal vibration piezo ceramic element in the present invention；
Fig. 6 is the polarization mode schematic diagram of potsherd in the first bending vibration piezo ceramic element in the present invention；
Fig. 7 is the polarization mode schematic diagram of potsherd in the second bending vibration piezo ceramic element in the present invention；
Fig. 8 is the bending vibration bending vibation mode picture of the present invention；
Fig. 9 is the extensional vibration bending vibation mode picture of the present invention.
Wherein, 1- starts head, 1.1- driving heads, 1.2- connecting portions, 1.3- ring flanges, 1.4- cylinders, 2- metallic gauge blocks,
3- bases, 4- pretension bolts, 5- collets, 6- bottoms, 7- springs, 8- contact blocks, 9- longitudinal vibration piezo ceramic elements, 10-
One bending vibration piezo ceramic element, 11- and the second bending vibration piezoelectric ceramic piece group, 12- fixing bolts, 13- electrode slices.
Specific embodiment
Below in conjunction with the accompanying drawings technical scheme is described in further detail：
As shown in figure 1, the invention discloses a kind of Three Degree Of Freedom machine joints of hand, at least including two joint units, the pass
Section unit is sequentially connected.
The joint unit includes start head, metallic gauge block, base, longitudinal vibration piezo ceramic element, the first bending vibration piezoelectricity
Ceramic component, the second bending vibration piezo ceramic element, pretension bolt, collet, bottom, spring and contact block.
As shown in Fig. 2 the start head includes driving head, connecting portion, ring flange and cylinder, wherein, the driving head is
It is spherical；The connecting portion is continuous variable cross section structure, and its section is circle, and the lower end fixing phase of its smallest cross-sectional and driving head
Even, the upper end of maximum cross-section and cylinder is fixedly linked；The ring flange is arranged on the junction of the connecting portion and cylinder.
The axis of the start head is provided with the screwed hole being engaged with the pretension bolt.
As shown in figure 3, the collet is upper end open, the cylinder of inner hollow, its lower end is provided with for pinning
The circular hole of the driving head.
The base includes main body, the first retainer ring and the second retainer ring, and wherein, the main body is upper end open, lower end
The cylinder of closing；First retainer ring, the second retainer ring are the cylinder of upper and lower opening, and the half of first retainer ring
Footpath is more than second retainer ring；The bottom surface fixing phase of the equal and described main body in upper end of first retainer ring and the second retainer ring
Connect, and main body, the first retainer ring, the second retainer ring are coaxially disposed.
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezoelectric ceramics
Component is cylinder, is arranged on from top to bottom in the main body of the base successively.
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezoelectric ceramics
Component, the bottom surface of base body are coaxially disposed and are equipped with axle center the through hole that passes through for pretension bolt；Pretension bolt is worn successively
Cross the bottom surface of base body, the second bending vibration piezo ceramic element, the first bending vibration piezo ceramic element, metallic gauge block, longitudinal vibration pressure
Screwed hole threaded connection on electroceramics component and start head, by longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration pressure
Electroceramics component, the second bending vibration piezo ceramic element are clamped between start head and the bottom surface of base body.
The bottom includes the first socket ring and bulge loop, and cylinder of the first socket ring for upper and lower opening is described convex
Ring is arranged on the upper end of the first socket ring, and the first socket ring is fixedly linked.
The bulge loop of the bottom is arranged between the first retainer ring, the second retainer ring.
The contact block includes connecting plate, the second socket ring and contact ring, and wherein, the second socket ring, contact ring are equal
For the hollow cylinder of upper and lower opening；The lower end of the second socket ring passes through the upper end fixing phase of connecting plate and the contact ring
Connect, and the second socket ring, contact ring are coaxially disposed.
The first socket ring and the second socket ring carry out gap cooperation by socket so that energy between contact block and bottom
Enough slide up and down.
As shown in figure 4, the spring housing is outside the described first socket ring and the second socket ring, one end and the bottom it is convex
Ring offsets, and the connecting plate of the other end and the contact block offsets.
The ring flange of the collet upper end and the start head is fixedly linked, can be using fixing bolt come fixing phase
Even.The circular hole of the collet lower end pins the driving head of coupled joint unit, and in the drive of the joint unit
Without departing from collet during dynamic head stress.
The driving head that the lower end and the collet for contacting ring in the contact block is pinned offsets.
The longitudinal vibration piezo ceramic element propagates to the driving head for producing longitudinal vibration.
The first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element be used to produce bending vibration propagate to it is described
Driving head, and the bending vibration of the first bending vibration piezo ceramic element generation and the bending vibration of the second bending vibration piezo ceramic element generation are in space
On to there is pi/2 phase poor.
As shown in figure 5, the longitudinal vibration piezo ceramic element includes two panels longitudinal vibration potsherd and a piece of electrode slice, the two panels
Electrode slice is clipped in the middle by longitudinal vibration potsherd, and the two panels longitudinal vibration potsherd is single polarization subregion, and polarised direction is hung down respectively
It is straight outside in electrode slice.
The first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element include two panels bending vibration potsherd and
Electrode slice is clipped in the middle by plate electrode piece, the two panels bending vibration potsherd, and every bending vibration piezoelectric ceramic piece has two poles in left and right
Change polarization subregion in opposite direction, and two panels bending vibration potsherd is contrary in the polarised direction of the polarization subregion of same one end.
The first bending vibration piezo ceramic element, the polarised direction of the second bending vibration piezo ceramic element and compound mode difference
As shown in Figure 6, Figure 7.
For each joint unit, the centre of sphere for making its driving head is origin, the centre of sphere that makes its driving head is origin, start
The axis of head is Z axis, crosses origin and parallel to two polarization of arbitrary bending vibration potsherd in its first bending vibration piezo ceramic element
The straight line of the boundary between subregion is Y-axis, crosses origin and parallel to arbitrary bending vibration ceramics in its second bending vibration piezo ceramic element
The straight line of the boundary between two polarization subregions of piece is X-axis.
Apply with the poor electricity of pi/2 phase on its longitudinal vibration piezo ceramic element, the first bending vibration piezo ceramic element respectively
Signal, inspires the bending vibration along the extensional vibration of Z-direction and in the XOZ planes on stator modules, extensional vibration and
The coupling of bending vibration makes the particle on driving head make elliptic motion in XOZ planes, and driving head is driven by rubbing action and turned
Submodule is rotated around Y-axis.
Apply with the poor electricity of pi/2 phase on its longitudinal vibration piezo ceramic element, the second bending vibration piezo ceramic element respectively
Signal, inspires the bending vibration along the extensional vibration of Z-direction and in the YOZ planes on stator modules, extensional vibration and
The coupling of bending vibration makes the particle on driving head make elliptic motion in YOZ planes, and driving head is driven by rubbing action and turned
Submodule is rotated around X-axis.
Apply poor with pi/2 phase on its first bending vibration piezo ceramic element and the second bending vibration piezo ceramic element respectively
The signal of telecommunication, inspired two bending vibrations all over time and space with pi/2 phase difference respectively on stator modules
Mode so that the particle on driving head makees elliptic motion in XOY plane, driving head by rubbing action drive rotor module around
Z axis make 360 ° of rotations.
Between three vibration shapes that joint unit is motivated by three groups of ceramic components in the present invention as known from the above two-by-two
Combination, is capable of achieving the motion of three degree of freedom, makes spherical drive head and the junction of connecting portion be located at the vibration shape during bending vibration
At node, so that spherical drive head obtains maximum amplitude, the bending vibation mode picture of bending vibration is as shown in Figure 8（With second order bending vibration it is
Example）.Make ring flange be located at convenient clamping at node of vibration mode during extensional vibration, be located at spherical drive head and the junction of connecting portion
Amplitude maximum, so that spherical drive head obtains maximum pitch amplitude, the bending vibation mode picture of extensional vibration is as shown in Figure 9（With single order
As a example by longitudinal vibration）.
The present invention has simple structure, and response is fast, and high precision is easy to miniaturization, in deep-sea detecting, space technology, machinery
Medical assistance technology and automatic manufacturing technology field have bright prospects.
Those skilled in the art of the present technique it is understood that unless otherwise defined, all terms used herein（Including skill
Art term and scientific terminology）With with art of the present invention in those of ordinary skill general understanding identical meaning.Also
It should be understood that those terms defined in such as general dictionary are should be understood that with the context with prior art
The consistent meaning of meaning, and unless defined as here, will not be explained with idealization or excessively formal implication.
Above-described specific embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, the be should be understood that specific embodiment that the foregoing is only the present invention is not limited to this
Bright, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc. should be included in the present invention
Protection domain within.
Claims (4)
1. a kind of Three Degree Of Freedom machine joints of hand, it is characterised in that at least including two joint units, the joint unit is successively
It is connected；
The joint unit includes start head, metallic gauge block, base, longitudinal vibration piezo ceramic element, the first bending vibration piezoelectric ceramics
Component, the second bending vibration piezo ceramic element, pretension bolt, collet, bottom, spring and contact block；
The start head includes driving head, connecting portion, ring flange and cylinder, and wherein, the driving head is spherical；The connecting portion
For continuous variable cross section structure, its section is circle, and its smallest cross-sectional and the lower end of driving head be fixedly linked, maximum cross-section and circle
The upper end of post is fixedly linked；The ring flange is arranged on the junction of the connecting portion and cylinder；
The axis of the start head is provided with the screwed hole being engaged with the pretension bolt；
The collet is upper end open, the cylinder of inner hollow, and its lower end is provided with the circle for pinning the driving head
Hole；
The base includes main body, the first retainer ring and the second retainer ring, and wherein, the main body is upper end open, lower end closed
Cylinder；First retainer ring, the second retainer ring are the cylinder of upper and lower opening, and the radius of first retainer ring is big
In second retainer ring；The bottom surface of the equal and described main body in upper end of first retainer ring and the second retainer ring is fixedly linked,
And main body, the first retainer ring, the second retainer ring are coaxially disposed；
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element
Cylinder is, is arranged on from top to bottom in the main body of the base successively；
The longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezo ceramic element, the second bending vibration piezoelectric ceramics group
Part, the bottom surface of base body are coaxially disposed and are equipped with axle center the through hole that passes through for pretension bolt；Pretension bolt is sequentially passed through
The bottom surface of base body, the second bending vibration piezo ceramic element, the first bending vibration piezo ceramic element, metallic gauge block, longitudinal vibration piezoelectricity
Screwed hole threaded connection on ceramic component and start head, by longitudinal vibration piezo ceramic element, metallic gauge block, the first bending vibration piezoelectricity
Ceramic component, the second bending vibration piezo ceramic element are clamped between start head and the bottom surface of base body；
The bottom includes the first socket ring and bulge loop, and cylinder of the first socket ring for upper and lower opening, the bulge loop set
Put in the upper end of the described first socket ring, and the first socket ring is fixedly linked；
The bulge loop of the bottom is arranged between the first retainer ring, the second retainer ring；
The contact block includes connecting plate, the second socket ring and contact ring, and wherein, the second socket ring, contact ring are
The hollow cylinder of under shed；The lower end of the second socket ring is fixedly linked by the upper end of connecting plate and the contact ring, and
The second socket ring, contact ring are coaxially disposed；
The first socket ring and the second socket ring carry out gap cooperation by socket so that can go up between contact block and bottom
Lower slider；
Outside the described first socket ring and the second socket ring, the bulge loop of one end and the bottom offsets the spring housing, the other end
Offset with the connecting plate of the contact block；
The ring flange of the collet upper end and the start head is fixedly linked, and the circular hole of lower end pins coupled joint
The driving head of unit；
The driving head that the lower end and the collet for contacting ring in the contact block is pinned offsets；
The longitudinal vibration piezo ceramic element propagates to the driving head for producing longitudinal vibration；
The first bending vibration piezo ceramic element, the second bending vibration piezo ceramic element are used to generation bending vibration and propagate to the driving
Head, and the first bending vibration piezo ceramic element produce bending vibration and the second bending vibration piezo ceramic element produce bending vibration spatially deposit
It is poor in pi/2 phase.
2. Three Degree Of Freedom machine joints of hand according to claim 1, it is characterised in that the longitudinal vibration piezo ceramic element bag
Electrode slice is clipped in the middle by the potsherd of longitudinal vibration containing two panels and a piece of electrode slice, the two panels longitudinal vibration potsherd, the two panels longitudinal vibration
Potsherd is single polarization subregion, and it is outside that polarised direction is respectively perpendicular to electrode slice.
3. Three Degree Of Freedom machine joints of hand according to claim 1, it is characterised in that the first bending vibration piezoelectric ceramics group
Part, the second bending vibration piezo ceramic element include two panels bending vibration potsherd and a piece of electrode slice, and the two panels bending vibration potsherd will
Electrode slice is clipped in the middle, and every bending vibration piezoelectric ceramic piece has the contrary polarization subregion of two polarised directions in left and right, and two panels is curved
The potsherd that shakes is contrary in the polarised direction of the polarization subregion of same one end.
4. the working method based on the Three Degree Of Freedom machine joints of hand described in claim 3, it is characterised in that comprising following step
Suddenly：
For each joint unit, the centre of sphere for making its driving head is origin, the centre of sphere that makes its driving head is origin, start head
Axis is Z axis, crosses origin and parallel to two polarization subregions of arbitrary bending vibration potsherd in its first bending vibration piezo ceramic element
Between the straight line of boundary be Y-axis, cross origin and parallel to arbitrary bending vibration potsherd in its second bending vibration piezo ceramic element
The straight line of the boundary between two polarization subregions is X-axis；
Apply with the poor signal of telecommunication of pi/2 phase on its longitudinal vibration piezo ceramic element, the first bending vibration piezo ceramic element respectively,
The bending vibration along the extensional vibration of Z-direction and in the XOZ planes is inspired on stator modules, and extensional vibration and bending are shaken
Dynamic coupling makes the particle on driving head make elliptic motion in XOZ planes, and driving head drives rotor module by rubbing action
Rotate around Y-axis；
Apply with the poor signal of telecommunication of pi/2 phase on its longitudinal vibration piezo ceramic element, the second bending vibration piezo ceramic element respectively,
The bending vibration along the extensional vibration of Z-direction and in the YOZ planes is inspired on stator modules, and extensional vibration and bending are shaken
Dynamic coupling makes the particle on driving head make elliptic motion in YOZ planes, and driving head drives rotor module by rubbing action
Rotate around X-axis；
Apply with the poor electricity of pi/2 phase on its first bending vibration piezo ceramic element and the second bending vibration piezo ceramic element respectively
Signal, is inspired two flexural vibration modes all over time and space with pi/2 phase difference respectively on stator modules,
So that the particle on driving head makees elliptic motion in XOY plane, driving head drives rotor module to make about the z axis by rubbing action
360 ° of rotations.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611120079.7A CN106514699B (en) | 2016-12-08 | 2016-12-08 | A kind of Three Degree Of Freedom machine swivel of hand and its working method |
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| CN201611120079.7A CN106514699B (en) | 2016-12-08 | 2016-12-08 | A kind of Three Degree Of Freedom machine swivel of hand and its working method |
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| CN106514699B CN106514699B (en) | 2018-11-20 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956291A (en) * | 2017-04-28 | 2017-07-18 | 南京航空航天大学 | A kind of mechanical arm configuration of deep-sea full open model and its working method |
| CN108340391A (en) * | 2018-03-06 | 2018-07-31 | 吉林大学 | Flexible drive bionics massage manipulator based on Pneumatic artificial muscle |
| CN109514591A (en) * | 2018-11-29 | 2019-03-26 | 南京航空航天大学 | A kind of sandwich piezo mechanical hand and its control method based on spherical joint |
| CN110936352A (en) * | 2019-12-02 | 2020-03-31 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Piezoelectric micro-clamp with twisting function |
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| CN108340391B (en) * | 2018-03-06 | 2023-10-03 | 吉林大学 | Flexible driving bionic massage manipulator based on pneumatic artificial muscle |
| CN109514591A (en) * | 2018-11-29 | 2019-03-26 | 南京航空航天大学 | A kind of sandwich piezo mechanical hand and its control method based on spherical joint |
| CN109514591B (en) * | 2018-11-29 | 2024-05-24 | 南京航空航天大学 | Sandwich type piezoelectric manipulator based on spherical joint and control method thereof |
| CN110936352A (en) * | 2019-12-02 | 2020-03-31 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Piezoelectric micro-clamp with twisting function |
| CN110936352B (en) * | 2019-12-02 | 2024-05-03 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Piezoelectric micro-clamp with rubbing function |
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