CN112713803A - Macro-micro combined piezoelectric driving rotary actuator and working method thereof - Google Patents
Macro-micro combined piezoelectric driving rotary actuator and working method thereof Download PDFInfo
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- H—ELECTRICITY
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- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
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- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
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- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
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- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
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Abstract
The invention discloses a macro-micro combined piezoelectric driving rotary actuator and a working method thereof, wherein the rotary actuator comprises a driving circular ring, a stator and eight actuating modules; the eight actuating modules are identical in structure and comprise a piezoelectric stack, a driving foot and a flexible hinge. During operation, through two pairwise cooperations of eight actuating modules for drive ring takes place elastic deformation and produces the displacement, and then drives the load. The invention utilizes the elastic restoring force to drive, does not generate noise and wear, has high reliability, long service life, large output torque, high precision and controllability, and can realize the operation precision of sub-arc second level in the range of ultra-low rotating speed (0.001 degree/second) and wide speed ratio (more than 10000) required by a high-precision space mechanism.
Description
Technical Field
The invention relates to the field of elastic driving, in particular to a macro-micro combined piezoelectric driving rotary actuator and a working method thereof.
Background
The piezoelectric actuator represented by the traveling wave type ultrasonic motor is output by working outwards by taking sliding friction force between the stator and the rotor as driving force, the high-frequency and intermittent contact sliding between the stator and the rotor inevitably brings about the problems of heating and abrasion, the output performance of the piezoelectric actuator is reduced, and the service life of the piezoelectric actuator is prolonged. In addition, the composite motion track of the surface particles of the actuating head of the piezoelectric actuator is easily distorted under the action of positive pressure, the piezoelectric actuator is difficult to improve output torque through infinitely increasing the positive pressure, the normal deformation amplitude of the actuating head can be reduced due to the increase of the positive pressure, and the piezoelectric actuator can be blocked when the positive pressure exceeds a certain limit. The high-precision space mechanism is required to realize the operation precision of sub-arc-second level in the ranges of ultra-low rotating speed (0.001 DEG/s) and wide speed regulation ratio (over 10000), and the ultrasonic motor has the problems of performance attenuation of functional elements, material creep and variation of pre-pressure of a friction interface under the long-term continuous operation of a rail and faces the challenge of high-performance stability over time.
Disclosure of Invention
The invention aims to solve the technical problem of providing a macro-micro combined piezoelectric driving rotary actuator and a working method thereof aiming at the defects in the background technology.
The invention adopts the following technical scheme for solving the technical problems:
a macro-micro combined piezoelectric driving rotary actuator comprises a driving circular ring, a stator and first to eighth actuating modules;
the driving circular ring is made of elastic medium and is in a circular ring shape;
the first to eighth actuating modules have the same structure and respectively comprise a flexible hinge mechanism, a piezoelectric stack and a driving foot, wherein the flexible hinge mechanism is a parallel octagon with symmetrical centers, is made of an elastic medium and comprises first to eighth flexible arms which are sequentially connected; the piezoelectric stack is arranged in the flexible hinge mechanism, one end of the piezoelectric stack is abutted against the first flexible arm, and the other end of the piezoelectric stack is abutted against the fifth flexible arm; the driving foot is arranged in the center of the outer wall of the third flexible arm;
the stator is made of rigid substances and is annular, and the stator is arranged in the driving circular ring and is coaxial with the driving circular ring;
eight connecting pieces which correspond to the first to eighth actuating modules one to one are uniformly arranged on the outer wall of the stator in the circumferential direction;
the first to eighth actuating modules are uniformly arranged between the driving circular ring and the stator in the circumferential direction, the seventh flexible arm of the flexible hinge mechanism is fixedly connected with the corresponding connecting piece, and the driving foot of the seventh flexible arm is abutted against the inner wall of the driving circular ring.
2. The method of operating a macro-micro combination piezoelectric driven rotary actuator as claimed in claim 1, comprising the steps of:
the first to eighth actuating modules are arranged in the driving ring clockwise, and if the output shaft needs to rotate in the positive direction:
step A.0), the piezoelectric stacks of the first to eighth actuating modules are not electrified, the driving circular ring is expanded under the action of the pretightening force of the flexible hinge mechanisms of the first to eighth actuating modules, and the driving circular ring, namely the rotor, is in a locking state;
step A.1), electrifying the piezoelectric stacks in the second, third, fourth, sixth, seventh and eighth actuating modules simultaneously to drive the piezoelectric stacks to extend, so that the distance between the third flexible arm and the seventh flexible arm is shortened after the flexible hinge mechanisms in the actuating modules are elastically deformed, at the moment, the driving circular ring is in an elliptical shape, the driving feet of the first, third, fifth and seventh actuating modules abut against the driving circular ring, and the driving feet of the second, fourth, sixth and eighth actuating modules are separated from the driving circular ring;
step A.2), the piezoelectric stacks of the second and sixth actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the second and sixth actuating modules recover to the original state, the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, meanwhile, the piezoelectric stacks of the third, fourth, seventh and eighth actuating modules continue to be powered on and driven, and at the moment, partial mass points on the driving ring rotate in the positive direction;
step A.3), electrifying the piezoelectric stacks of the first and fifth actuating modules to drive the piezoelectric stacks to extend, so that the flexible hinge mechanisms in the first and fifth actuating modules generate elastic deformationThe driving foot is separated from the driving ring, and under the action of elastic restoring force, the whole driving ring rotates forwards to a preset first angle threshold value compared with the initial stateθ 1；
Step A.4), the piezoelectric stacks of the third and seventh actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the third and seventh actuating modules recover to the original state, and the driving feet abut against the driving circular ring to enable the driving circular ring to be expanded to continue to generate elastic deformation, so that the motor rotor is in a locked state;
step A.5), electrifying the piezoelectric stacks of the second and sixth actuating modules to drive the piezoelectric stacks to extend, so that the flexible hinge mechanisms in the second and sixth actuating modules generate elastic deformation, the driving feet are separated from the driving ring, and part of the material points of the driving ring continuously rotate in the forward direction under the action of elastic restoring force;
step A.6), the piezoelectric stacks of the fourth and eighth actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the fourth and eighth actuating modules recover to the original state, and the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, meanwhile, the third and seventh actuating modules continue to be powered off, and the motor rotor is in a locked state;
step A.7), electrifying the piezoelectric stacks of the third and seventh actuating modules to drive the piezoelectric stacks to extend, so that the flexible hinge mechanisms in the third and seventh actuating modules generate elastic deformation, the driving feet are separated from the driving rings, and under the action of elastic restoring force, the driving rings rotate forwards, and the whole rotates through a preset second angle threshold value compared with the initial stateθ 2；
Step A.8), the piezoelectric stacks of the first and fifth actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the first and fifth actuating modules recover to the original state, the driving feet abut against the driving circular ring to enable the driving circular ring to be expanded and continue to elastically deform, and the motor rotor is in a locked state;
step A.9), skipping to step A.1);
if the output shaft is required to rotate reversely:
step B.0), the piezoelectric stacks of the first to eighth actuating modules are not electrified, and the driving circular ring is expanded to be in a locking state under the action of the pretightening force of the flexible hinge mechanisms of the first to eighth actuating modules;
step B.1), electrifying the piezoelectric stacks in the second, third, fourth, sixth, seventh and eighth actuating modules simultaneously to drive the piezoelectric stacks to extend, so that the distance between the third flexible arm and the seventh flexible arm is shortened after the flexible hinge mechanisms in the actuating modules are elastically deformed, at the moment, the driving circular ring is in an elliptical shape, the driving feet of the first, third, fifth and seventh actuating modules abut against the driving circular ring, and the driving feet of the second, fourth, sixth and eighth actuating modules are separated from the driving circular ring;
step B.2), the piezoelectric stacks of the fourth and eighth actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the fourth and eighth actuating modules recover to the original state, the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, meanwhile, the piezoelectric stacks of the second, third, sixth and seventh actuating modules continue to be powered on and driven, and at the moment, partial particles on the driving ring rotate reversely;
and step B.3), electrifying the piezoelectric stacks of the first and fifth actuating modules to drive the piezoelectric stacks to extend, so that the flexible hinge mechanisms in the first and fifth actuating modules generate elastic deformation, the driving feet are separated from the driving ring, and under the action of elastic restoring force, the whole driving ring rotates in the opposite direction to the original stateθ 1；
Step B.4), the piezoelectric stacks of the third and seventh actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the third and seventh actuating modules recover to the original state, the driving feet abut against the driving circular ring to enable the driving circular ring to be expanded and to continue to generate elastic deformation, and the motor rotor is in a locked state;
step B.5), electrifying the piezoelectric stacks of the fourth and eighth actuating modules to drive the piezoelectric stacks to extend, so that the flexible hinge mechanisms in the fourth and eighth actuating modules generate elastic deformation, the driving feet are separated from the driving ring, and partial mass points of the driving ring continuously rotate in the reverse direction under the action of elastic restoring force;
step B.6), the piezoelectric stacks of the second and sixth actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the second and sixth actuating modules recover to the original state, the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, meanwhile, the piezoelectric stacks of the third and seventh actuating modules continue to keep the power-off state, and the motor rotor is in a locked state;
b.7), electrifying the piezoelectric stacks of the third and seventh actuating modules to drive them to extend, making the flexible hinge mechanisms in the third and seventh actuating modules generate elastic deformation, the driving feet separate from the driving ring, under the action of elastic restoring force, the driving ring rotates reversely, and the whole rotates more than the original stateθ 2；
B.8), the piezoelectric stacks of the first and fifth actuating modules are powered off to shrink, at this time, the flexible hinge mechanisms in the first and fifth actuating modules recover to the original state, the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, and the motor rotor is in a locked state;
step b.9), jump to step b.1).
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the elastic restoring force is used for driving instead of the friction force, so that noise is not generated, abrasion is avoided, the reliability of the rotary actuator is improved, and the service life of the rotary actuator is prolonged;
2. the large-load driving can be realized by using a large-output-force driving source represented by a piezoelectric stack, and the output torque of the actuator is improved;
3. the high-precision space mechanism can realize the operation precision of sub-arc-second level within the range of ultra-low rotating speed (0.001 degree/second) and wide speed ratio (more than 10000) required by the high-precision space mechanism.
Drawings
FIG. 1 is an isometric view of the overall construction of the present invention;
FIG. 2 is a plan view of the overall structure of the present invention;
FIG. 3 is a schematic diagram of the deformation of a piezoelectric stack of the present invention after energization;
FIG. 4 is a schematic view of the state of step A.0) when the forward direction of the present invention is operating;
FIG. 5 is a schematic view of the state of step A.1) when the forward direction of the present invention is operating;
FIG. 6 is a schematic view of the state of step A.2) when the forward direction of the present invention is operating;
FIG. 7 is a schematic view of the state of step A.3) when the forward direction of the present invention is operating;
FIG. 8 is a schematic view of the state of step A.4) when the forward direction of the present invention is operating;
FIG. 9 is a schematic view of the state of step A.5) when the forward direction of the present invention is operating;
FIG. 10 is a schematic view of the state of step A.6) when the forward direction of the present invention is operating;
FIG. 11 is a schematic view of the state of step A.7) when the forward direction of the present invention is operating;
FIG. 12 is a schematic view of the state of step A.8) in the forward direction of the present invention.
In the figure, 1-drive ring, 2-stator, 3-first actuation module, 4-second actuation module, 5-third actuation module, 6-fourth actuation module, 7-fifth actuation module, 8-sixth actuation module, 9-seventh actuation module, 10-eighth actuation module.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
As shown in fig. 1, 2 and 3, the present invention discloses a macro-micro combined piezoelectric driven rotary actuator, which includes a driving ring, a stator, and first to eighth actuating modules;
the driving circular ring is made of elastic medium and is in a circular ring shape;
the first to eighth actuating modules have the same structure and respectively comprise a flexible hinge mechanism, a piezoelectric stack and a driving foot, wherein the flexible hinge mechanism is a parallel octagon with symmetrical centers, is made of an elastic medium and comprises first to eighth flexible arms which are sequentially connected; the piezoelectric stack is arranged in the flexible hinge mechanism, one end of the piezoelectric stack is abutted against the first flexible arm, and the other end of the piezoelectric stack is abutted against the fifth flexible arm; the driving foot is arranged in the center of the outer wall of the third flexible arm;
the stator is made of rigid substances and is annular, and the stator is arranged in the driving circular ring and is coaxial with the driving circular ring;
eight connecting pieces which correspond to the first to eighth actuating modules one to one are uniformly arranged on the outer wall of the stator in the circumferential direction;
the first to eighth actuating modules are uniformly arranged between the driving circular ring and the stator in the circumferential direction, the seventh flexible arm of the flexible hinge mechanism is fixedly connected with the corresponding connecting piece, and the driving foot of the seventh flexible arm is abutted against the inner wall of the driving circular ring.
The driving source of the first to eighth actuating modules may be a piezoelectric stack, or may be a hydraulic cylinder, an air cylinder, a magnetostrictive material, a shape memory alloy, or other types.
The invention also discloses a working method of the macro-micro combined piezoelectric driving rotary actuator, which comprises the following steps:
the first to eighth actuating modules are arranged in the driving ring clockwise, and if the output shaft needs to rotate in the positive direction:
step A.0), the piezoelectric stacks of the first to eighth actuating modules are not electrified, the driving circular ring is expanded under the action of the pretightening force of the flexible hinge mechanisms of the first to eighth actuating modules, and the driving circular ring, namely the rotor, is in a locked state, as shown in fig. 4;
step A.1), electrifying the piezoelectric stacks in the second, third, fourth, sixth, seventh and eighth actuating modules simultaneously to drive the piezoelectric stacks to extend, so that the distance between the third flexible arm and the seventh flexible arm is shortened after the flexible hinge mechanisms in the actuating modules are elastically deformed, at the moment, the driving circular ring is in an elliptical shape, the driving feet of the first, third, fifth and seventh actuating modules abut against the driving circular ring, and the driving feet of the second, fourth, sixth and eighth actuating modules are separated from the driving circular ring, as shown in FIG. 5;
step A.2), the piezoelectric stacks of the second and sixth actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the second and sixth actuating modules recover to the original state, the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, meanwhile, the piezoelectric stacks of the third, fourth, seventh and eighth actuating modules continue to be powered on and driven, and at the moment, partial mass points on the driving ring rotate in the positive direction, as shown in FIG. 6;
step A.3), electrifying the piezoelectric stacks of the first and fifth actuating modules to drive the piezoelectric stacks to extend, so that the flexible hinge mechanisms in the first and fifth actuating modules generate elastic deformation and the driving feet are separated from the driving ring, and under the action of elastic restoring force, the whole driving ring rotates forwards to a preset first angle threshold value compared with the original stateθ 1As shown in fig. 7;
step A.4), the piezoelectric stacks of the third and seventh actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the third and seventh actuating modules recover to the original state, and the driving feet abut against the driving ring to enable the driving ring to be expanded to continue to generate elastic deformation, so that the motor rotor is in a locked state as shown in fig. 8;
step A.5), electrifying the piezoelectric stacks of the second and sixth actuating modules to drive the piezoelectric stacks to extend, so that the flexible hinge mechanisms in the second and sixth actuating modules generate elastic deformation, the driving feet are separated from the driving ring, and the mass points of the driving ring part continuously rotate in the forward direction under the action of elastic restoring force, as shown in FIG. 9;
step A.6), the piezoelectric stacks of the fourth and eighth actuating modules are powered off to be contracted, at this time, the flexible hinge mechanisms in the fourth and eighth actuating modules recover to the original state, the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, meanwhile, the third and seventh actuating modules continue to be powered off, and the motor rotor is in a locked state as shown in FIG. 10;
step A.7), electrifying the piezoelectric stacks of the third and seventh actuating modules to drive the piezoelectric stacks to extend, so that the flexible hinge mechanisms in the third and seventh actuating modules generate elastic deformation, the driving feet are separated from the driving rings, and under the action of elastic restoring force, the driving rings rotate forwards, and the whole rotates through a preset second angle threshold value compared with the initial stateθ 2As shown in the figure11 is shown in the figure;
step A.8), the piezoelectric stacks of the first and fifth actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the first and fifth actuating modules recover to the original state, and the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, so that the motor rotor is in a locked state as shown in fig. 12;
step A.9), skipping to step A.1);
if the output shaft is required to rotate reversely:
step B.0), the piezoelectric stacks of the first to eighth actuating modules are not electrified, and the driving circular ring is expanded to be in a locking state under the action of the pretightening force of the flexible hinge mechanisms of the first to eighth actuating modules;
step B.1), electrifying the piezoelectric stacks in the second, third, fourth, sixth, seventh and eighth actuating modules simultaneously to drive the piezoelectric stacks to extend, so that the distance between the third flexible arm and the seventh flexible arm is shortened after the flexible hinge mechanisms in the actuating modules are elastically deformed, at the moment, the driving circular ring is in an elliptical shape, the driving feet of the first, third, fifth and seventh actuating modules abut against the driving circular ring, and the driving feet of the second, fourth, sixth and eighth actuating modules are separated from the driving circular ring;
step B.2), the piezoelectric stacks of the fourth and eighth actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the fourth and eighth actuating modules recover to the original state, the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, meanwhile, the piezoelectric stacks of the second, third, sixth and seventh actuating modules continue to be powered on and driven, and at the moment, partial particles on the driving ring rotate reversely;
and step B.3), electrifying the piezoelectric stacks of the first and fifth actuating modules to drive the piezoelectric stacks to extend, so that the flexible hinge mechanisms in the first and fifth actuating modules generate elastic deformation, the driving feet are separated from the driving ring, and under the action of elastic restoring force, the whole driving ring rotates in the opposite direction to the original stateθ 1；
Step B.4), the piezoelectric stacks of the third and seventh actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the third and seventh actuating modules recover to the original state, the driving feet abut against the driving circular ring to enable the driving circular ring to be expanded and to continue to generate elastic deformation, and the motor rotor is in a locked state;
step B.5), electrifying the piezoelectric stacks of the fourth and eighth actuating modules to drive the piezoelectric stacks to extend, so that the flexible hinge mechanisms in the fourth and eighth actuating modules generate elastic deformation, the driving feet are separated from the driving ring, and partial mass points of the driving ring continuously rotate in the reverse direction under the action of elastic restoring force;
step B.6), the piezoelectric stacks of the second and sixth actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the second and sixth actuating modules recover to the original state, the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, meanwhile, the piezoelectric stacks of the third and seventh actuating modules continue to keep the power-off state, and the motor rotor is in a locked state;
b.7), electrifying the piezoelectric stacks of the third and seventh actuating modules to drive them to extend, making the flexible hinge mechanisms in the third and seventh actuating modules generate elastic deformation, the driving feet separate from the driving ring, under the action of elastic restoring force, the driving ring rotates reversely, and the whole rotates more than the original stateθ 2；
B.8), the piezoelectric stacks of the first and fifth actuating modules are powered off to shrink, at this time, the flexible hinge mechanisms in the first and fifth actuating modules recover to the original state, the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, and the motor rotor is in a locked state;
step b.9), jump to step b.1).
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (2)
1. A macro-micro combined piezoelectric driving rotary actuator is characterized by comprising a driving circular ring, a stator and first to eighth actuating modules;
the driving circular ring is made of elastic medium and is in a circular ring shape;
the first to eighth actuating modules have the same structure and respectively comprise a flexible hinge mechanism, a piezoelectric stack and a driving foot, wherein the flexible hinge mechanism is a parallel octagon with symmetrical centers, is made of an elastic medium and comprises first to eighth flexible arms which are sequentially connected; the piezoelectric stack is arranged in the flexible hinge mechanism, one end of the piezoelectric stack is abutted against the first flexible arm, and the other end of the piezoelectric stack is abutted against the fifth flexible arm; the driving foot is arranged in the center of the outer wall of the third flexible arm;
the stator is made of rigid substances and is annular, and the stator is arranged in the driving circular ring and is coaxial with the driving circular ring;
eight connecting pieces which correspond to the first to eighth actuating modules one to one are uniformly arranged on the outer wall of the stator in the circumferential direction;
the first to eighth actuating modules are uniformly arranged between the driving circular ring and the stator in the circumferential direction, the seventh flexible arm of the flexible hinge mechanism is fixedly connected with the corresponding connecting piece, and the driving foot of the seventh flexible arm is abutted against the inner wall of the driving circular ring.
2. The method of operating a macro-micro combination piezoelectric driven rotary actuator of claim 1, comprising the steps of:
the first to eighth actuating modules are arranged in the driving ring clockwise, and if the output shaft needs to rotate in the positive direction:
step A.0), the piezoelectric stacks of the first to eighth actuating modules are not electrified, the driving circular ring is expanded under the action of the pretightening force of the flexible hinge mechanisms of the first to eighth actuating modules, and the driving circular ring, namely the rotor, is in a locking state;
step A.1), electrifying the piezoelectric stacks in the second, third, fourth, sixth, seventh and eighth actuating modules simultaneously to drive the piezoelectric stacks to extend, so that the distance between the third flexible arm and the seventh flexible arm is shortened after the flexible hinge mechanisms in the actuating modules are elastically deformed, at the moment, the driving circular ring is in an elliptical shape, the driving feet of the first, third, fifth and seventh actuating modules abut against the driving circular ring, and the driving feet of the second, fourth, sixth and eighth actuating modules are separated from the driving circular ring;
step A.2), the piezoelectric stacks of the second and sixth actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the second and sixth actuating modules recover to the original state, the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, meanwhile, the piezoelectric stacks of the third, fourth, seventh and eighth actuating modules continue to be powered on and driven, and at the moment, partial mass points on the driving ring rotate in the positive direction;
step A.3), electrifying the piezoelectric stacks of the first and fifth actuating modules to drive the piezoelectric stacks to extend, so that the flexible hinge mechanisms in the first and fifth actuating modules generate elastic deformation and the driving feet are separated from the driving ring, and under the action of elastic restoring force, the whole driving ring rotates forwards to a preset first angle threshold value compared with the original stateθ 1；
Step A.4), the piezoelectric stacks of the third and seventh actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the third and seventh actuating modules recover to the original state, and the driving feet abut against the driving circular ring to enable the driving circular ring to be expanded to continue to generate elastic deformation, so that the motor rotor is in a locked state;
step A.5), electrifying the piezoelectric stacks of the second and sixth actuating modules to drive the piezoelectric stacks to extend, so that the flexible hinge mechanisms in the second and sixth actuating modules generate elastic deformation, the driving feet are separated from the driving ring, and part of the material points of the driving ring continuously rotate in the forward direction under the action of elastic restoring force;
step A.6), the piezoelectric stacks of the fourth and eighth actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the fourth and eighth actuating modules recover to the original state, and the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, meanwhile, the third and seventh actuating modules continue to be powered off, and the motor rotor is in a locked state;
step A.7), electrifying the piezoelectric stacks of the third and seventh actuating modules to drive the piezoelectric stacks to extend, so that the flexible hinge mechanisms in the third and seventh actuating modules generate elastic deformation, the driving feet are separated from the driving rings, and under the action of elastic restoring force, the driving rings rotate forwards, and the whole rotates through a preset second angle threshold value compared with the initial stateθ 2；
Step A.8), the piezoelectric stacks of the first and fifth actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the first and fifth actuating modules recover to the original state, the driving feet abut against the driving circular ring to enable the driving circular ring to be expanded and continue to elastically deform, and the motor rotor is in a locked state;
step A.9), skipping to step A.1);
if the output shaft is required to rotate reversely:
step B.0), the piezoelectric stacks of the first to eighth actuating modules are not electrified, and the driving circular ring is expanded to be in a locking state under the action of the pretightening force of the flexible hinge mechanisms of the first to eighth actuating modules;
step B.1), electrifying the piezoelectric stacks in the second, third, fourth, sixth, seventh and eighth actuating modules simultaneously to drive the piezoelectric stacks to extend, so that the distance between the third flexible arm and the seventh flexible arm is shortened after the flexible hinge mechanisms in the actuating modules are elastically deformed, at the moment, the driving circular ring is in an elliptical shape, the driving feet of the first, third, fifth and seventh actuating modules abut against the driving circular ring, and the driving feet of the second, fourth, sixth and eighth actuating modules are separated from the driving circular ring;
step B.2), the piezoelectric stacks of the fourth and eighth actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the fourth and eighth actuating modules recover to the original state, the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, meanwhile, the piezoelectric stacks of the second, third, sixth and seventh actuating modules continue to be powered on and driven, and at the moment, partial particles on the driving ring rotate reversely;
and step B.3), electrifying the piezoelectric stacks of the first and fifth actuating modules to drive the piezoelectric stacks to extend, so that the flexible hinge mechanisms in the first and fifth actuating modules generate elastic deformation, the driving feet are separated from the driving ring, and under the action of elastic restoring force, the whole driving ring rotates in the opposite direction to the original stateθ 1；
Step B.4), the piezoelectric stacks of the third and seventh actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the third and seventh actuating modules recover to the original state, the driving feet abut against the driving circular ring to enable the driving circular ring to be expanded and to continue to generate elastic deformation, and the motor rotor is in a locked state;
step B.5), electrifying the piezoelectric stacks of the fourth and eighth actuating modules to drive the piezoelectric stacks to extend, so that the flexible hinge mechanisms in the fourth and eighth actuating modules generate elastic deformation, the driving feet are separated from the driving ring, and partial mass points of the driving ring continuously rotate in the reverse direction under the action of elastic restoring force;
step B.6), the piezoelectric stacks of the second and sixth actuating modules are powered off to be contracted, at the moment, the flexible hinge mechanisms in the second and sixth actuating modules recover to the original state, the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, meanwhile, the piezoelectric stacks of the third and seventh actuating modules continue to keep the power-off state, and the motor rotor is in a locked state;
b.7), electrifying the piezoelectric stacks of the third and seventh actuating modules to drive them to extend, making the flexible hinge mechanisms in the third and seventh actuating modules generate elastic deformation, the driving feet separate from the driving ring, under the action of elastic restoring force, the driving ring rotates reversely, and the whole rotates more than the original stateθ 2；
B.8), the piezoelectric stacks of the first and fifth actuating modules are powered off to shrink, at this time, the flexible hinge mechanisms in the first and fifth actuating modules recover to the original state, the driving feet abut against the driving ring to enable the driving ring to expand and continue to generate elastic deformation, and the motor rotor is in a locked state;
step b.9), jump to step b.1).
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