CN115549521A - Stator design method of ultrasonic driving structure of prosthetic hand and stator - Google Patents
Stator design method of ultrasonic driving structure of prosthetic hand and stator Download PDFInfo
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Abstract
The invention discloses a stator design method of an ultrasonic driving structure of an artificial hand, belonging to the field of artificial hands and comprising the steps of designing the structure of a stator, selecting materials of the stator, and determining the inner diameter r and the outer diameter R, L of the stator 2 、L 3 、L 4 Calculating L 1 And L 5 And carrying out simulation analysis on the vibration system and the like, wherein the designed stator adopts an amplitude-variable rod structure design to realize amplification of amplitude and vibration speed, has light weight and large driving force, and is suitable for an ultrasonic driving structure of the prosthetic hand. The invention also relates to a stator designed according to the stator design method of the ultrasonic driving structure of the prosthetic hand.
Description
Technical Field
The invention relates to a prosthetic hand, in particular to a stator design method of an ultrasonic drive structure of the prosthetic hand and a stator designed according to the stator design method of the ultrasonic drive structure of the prosthetic hand.
Background
The hand is one of the strongest limbs of the human body and can perform various daily tasks.
Many people in different communities lose this important limb for a number of reasons, including congenital reasons, diabetes and unpredictable accidents. From the amputee's point of view, suitable prosthetic hands have different features, such as being similar to the human hand anatomy, lightweight, low cost, and high functionality (being able to perform a convenient grip pattern, particularly a power and precision grip). In order to achieve the above object in a prosthetic hand, various designs and models have been proposed so far.
In order to reduce the weight of the artificial limb and increase the grip strength, a motor as a driver is one of the subjects to be studied. It is desirable to simplify the design while maintaining flexibility and controllability for assisting the patient in achieving independent living capabilities. Under the strict weight limitation, the search for a light solution is very important, the transmission structure and the actuator and the controller of the artificial hand can reduce the weight of the artificial hand through an emerging technology, and as a driver of equipment, no good solution exists at present.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a stator design method of an ultrasonic driving structure of a prosthetic hand with light weight and large driving force.
In order to overcome the defects of the prior art, the invention also aims to provide a stator of the ultrasonic driving structure of the prosthetic hand with light weight and large driving force.
One of the purposes of the invention is realized by adopting the following technical scheme:
a design method of a stator of an ultrasonic driving structure of a prosthetic hand comprises the following steps:
designing the structure of the stator: the stator comprises an amplitude transformer and an energy converter arranged on the amplitude transformer, the energy converter comprises a rear end cover and piezoelectric ceramics, wherein the length of the rear end cover is L 1 Length of piezoelectric ceramic L 2 The length of three parts of the amplitude transformer is L in sequence 3 ，L 4 ，L 5 ；
The left resonant frequency equation of the nodal surface of the amplitude transformer is as follows:
Z i is an equivalent impedance, k i In wavenumbers, i =1, 2, 3;
the equation of the resonance frequency on the right side of the nodal plane of the amplitude transformer is as follows:
Z i is an equivalent impedance, k i Is wave number, α 4 Is the taper coefficient, i =4, 5;
stator material selection: in order to transmit the ultrasonic vibration waves forwards as far as possible, the material density from the rear end cover, the piezoelectric ceramics to the amplitude transformer is reduced in sequence when the stator is selected;
determining the inner diameter r and the outer diameter R, L of the stator 2 、L 3 、L 4 : the material and specification of the piezoelectric ceramic are limited, and the material and specification of the piezoelectric ceramic are selected to be suitable, wherein R, R and L are 2 Determining a numerical value; according to R, R, L 2 Numerical calculation of L 3 、L 4 ；
Calculating L 1 And L 5 : mixing L with 2 、L 3 、L 4 Substituting the numerical values into the formula (1) and the formula (2), and calculating L 1 And L 5 ；
Carrying out simulation analysis on the vibration system: and (3) applying constraint conditions during working on the stator, and performing modal analysis, transient analysis and motion analysis on the vibration system and the stator to ensure that the stator meets the design requirements.
Further, in the step of the resonance frequency equation on the left side of the section surface of the horn:
the transmission characteristic equation of the four-terminal network on the left side of the nodal plane is
Four-terminal network transmission matrix of the left transducer of the nodal plane is
a ij 1 I, j E (1,2) is a four-terminal network transmission parameter of the first section bar; aij2, i, j epsilon (1,2) are four-end network transmission parameters of the second section bar; aij3, i, j epsilon (1,2) are four-terminal network transmission parameters of the third section ceramic; v 3 、V 1 The left two-end speed; f 3 、F 1 Two ends of the left side are stressed;
determining the parameter V at two ends according to the motion state and stress condition of the left part of the nodal surface 3 ＝0，F 1 =0, and substituting the formula (3) to obtain a 11 =0, will a 11 Substituting =0 into equation (4) yields equation (1).
Further, the four-terminal network transmission characteristic equation on the right side of the nodal plane is
The four-terminal network transmission matrix of the amplitude transformer on the right side of the nodal plane is
b ij 1 I, j epsilon (1,2) is the four-terminal network transmission parameter of the right-side amplitude transformer; bij 4 I, j epsilon (1,2) is a four-end network transmission parameter of the fourth section bar; bij 5 I, j epsilon (1,2) is a four-end network transmission parameter of the fifth section bar; v 3 、V 1 The left two-end speed; f 3 、F 1 Two ends of the left side are stressed;
determining the parameter V at two ends according to the motion state and stress condition of the right part of the nodal surface 4 ＝0,F 5 =0, and b is obtained by substituting equation (5) 22 =0, will b 22 Substituting =0 into equation (6) yields equation (2).
Further, Z i ＝ρ i c i S i ，ρ i Is the density of the material, c i Is the longitudinal propagation velocity of the ultrasonic wave, S i I =1, 2, 3, 4, 5 for cross-sectional area.
Further, k i ＝ω i /c i ，ω i I =1, 2, 3, 4, 5 for the ultrasonic vibration angular frequency; c. C i Is the longitudinal propagation velocity of the ultrasonic wave.
Further, since the rear end cap and the piezoelectric ceramics are mounted on the horn, ρ is i And c i Calculating by adopting an equivalent area method:
in the formula S 13 Is the total cross-sectional area S of the connecting section of the rear end cover and the amplitude transformer 13 ＝S 1 +S 3 ，S 1 Is the cross-sectional area of the rear end cap, S 3 Is the cross section area of the amplitude transformer; s 23 Is the total cross-sectional area S of the connecting section of the piezoelectric ceramic piece and the amplitude transformer 23 ＝S 2 +S 3 ，S 2 The area of the cross section of the piezoelectric ceramic piece.
Further, α 4 ＝(N 4 -1)/(N 4 L 4 )，N 4 The reduction ratio of the cross section is shown as,
further, the rear end cover is made of stainless steel 2Cr13, the piezoelectric ceramic piece is made of PZT-8, and the amplitude transformer is made of duralumin alloy 7A04.
Furthermore, when the stator is subjected to modal analysis, data with frequency greater than 20KHz are extracted, the data are excited with the intermediate value of the corresponding frequency of the first and second order matrix types to obtain a point motion track diagram, and the difference of the height amplitude of the periodic circle is calculated, so that the required matrix type is selected, vibration displacement analysis and calculation are performed, and the electric steel is ensured to reach the sufficient linear motion distance.
The second purpose of the invention is realized by adopting the following technical scheme:
a kind of baseThe stator designed by the stator design method of any artificial hand ultrasonic driving structure comprises an amplitude transformer and a transducer arranged on the amplitude transformer, wherein the transducer comprises a rear end cover, piezoelectric ceramics and a connecting section, the rear end cover is made of stainless steel 2Cr13, and the length L of the rear end cover is L 1 0.6-0.7mm, the piezoelectric ceramic is made of PZT-8, and the length L of the piezoelectric ceramic is 2 1-1.4mm, inner diameter R0.65-0.85 mm, outer diameter R1-1.5 mm; length L of said connection segment 3 0.1-0.3mm, 0.65-0.85mm of inner diameter R and 1-1.5mm of outer diameter R; the amplitude transformer is made of duralumin alloy 7A04, and the length L of the first rod body and the second rod body of the amplitude transformer 4 ，L 5 Respectively 1-2mm and 0.5-1.5mm.
Compared with the prior art, the stator design method of the ultrasonic driving structure of the prosthetic hand provided by the invention has the advantages that the structure of the stator is designed, the material of the stator is selected, and the inner diameter r and the outer diameter R, L of the stator are determined 2 、L 3 、L 4 Calculating L 1 And L 5 And carrying out simulation analysis on the vibration system and the like, wherein the designed stator adopts an amplitude-variable rod structure design to realize amplification of amplitude and vibration speed, has light weight and large driving force, and is suitable for an ultrasonic driving structure of the prosthetic hand.
Drawings
FIG. 1 is a perspective view of a stator of the ultrasonic drive configuration of the prosthetic hand of the present invention;
FIG. 2 is a front view of the stator of FIG. 1;
FIG. 3 is a side view of the stator of FIG. 1;
FIG. 4 is a graph of horn vibration for a stator simulation.
In the figure: 10. a transducer; 11. a rear end cap; 12. piezoelectric ceramics; 13. a connection section; 20. an amplitude transformer; 21. a first rod body; 22. a second rod body.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present, secured by intervening elements. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly disposed on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all 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. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 to 3 show a stator designed by the stator design method of the ultrasonic driving structure of the prosthetic hand, wherein the stator comprises a transducer 10 and an amplitude transformer 20. The transducer 10 includes a rear end cap 11, a piezoelectric ceramic 12, and a connecting segment 13. The end cover 11 is ring-shaped, and the length of the end cover 11 is L 1 The inner diameter is R and the outer diameter is R. The piezoelectric ceramic 12 is annular and has a length L 2 The inner diameter is R and the outer diameter is R. The connecting section 13 has a length L 3 The inner diameter is R and the outer diameter is R. One end of the amplitude transformer 20 is a rod body and is used for installing the rear end cover 11, the piezoelectric ceramics 12 and the connecting section 13. The other end of the amplitude transformer 20 is of a variable diameter design so as to amplify the amplitude and the vibration speed. The other end of the amplitude transformer 20 is respectively provided with a first rod body 21 and a second rod body 22, the length of the first rod body 21 is L 4 The length of the second rod 22 is L 5 。
The application provides a stator design method of an ultrasonic driving structure of a prosthetic hand, which comprises the following steps:
designing the structure of the stator: the stator comprises an amplitude transformer 20 and a transducer 10 arranged on the amplitude transformer 20, wherein the transducer 10 comprises a rear end cover 11, piezoelectric ceramics 12 and a connecting section 13, and the length of the rear end cover 11 is L 1 The length of the piezoelectric ceramic 12 is L 2 The length of the connecting section 13 is L 3 The amplitude transformer 20 comprises a first rod body 21 and a second rod body 22, wherein the length of the first rod body 21 is L 4 The length of the second rod 22 is L 5 ；
The left resonant frequency equation of the 20-section surface of the amplitude transformer is as follows:
Z i is an equivalent impedance, k i Is wavenumber, i =1, 2, 3;
the equation of the resonance frequency on the right side of the section surface of the amplitude transformer 20 is as follows:
Z i is an equivalent impedance, k i Is wave number, α 4 For the taper coefficient, i =4, 5;
stator material selection: in order to make the ultrasonic vibration wave spread forward as much as possible, the material density from the rear end cover 11, the piezoelectric ceramic 12 to the amplitude transformer 20 is reduced in sequence when the stator is selected;
determining the inner diameter r and the outer diameter R, L of the stator 2 、L 3 、L 4 : since the number of materials and specifications of the piezoelectric ceramics 12 is limited, the materials and specifications of the piezoelectric ceramics 12 are selected to be suitable, where R, R, L 2 Determining a numerical value; according to R, R, L 2 Numerical calculation of L 3 、L 4 ；
Calculating L 1 And L 5 : mixing L with 2 、L 3 、L 4 Substituting the numerical value of (c) into the formula (1) and the formula (2), calculating L 1 And L 5 ；
Carrying out simulation analysis on the vibration system: and (3) applying constraint conditions during working on the stator, and performing modal analysis, transient analysis and motion analysis on the vibration system and the stator to ensure that the stator meets the design requirements.
The specific derivation process of the resonance frequency equation on the left side of the 20-section surface of the amplitude transformer is as follows:
the transmission characteristic equation of the four-terminal network on the left side of the nodal plane is
Four-terminal network transmission matrix on the left side of the nodal plane is
a ij 1 I, j E (1,2) is a four-terminal network transmission parameter of the first section bar; a is ij 2 I, j epsilon (1,2) is the four-terminal network transmission parameter of the second section bar; a is ij 3 I, j epsilon (1,2) is a four-terminal network transmission parameter of the third section ceramic; v 3 、V 1 The left two-end speed; f 3 、F 1 Two ends of the left side are stressed;
determining the parameter V at two ends according to the motion state and stress condition of the left part of the nodal surface 3 ＝0，F 1 =0, and a is obtained by substituting equation (3) 11 =0, a 11 Substituting =0 into equation (4) yields equation (1).
In the left-side resonant frequency equation of the section surface of the amplitude transformer 20: z i ＝ρ i c i S i ，ρ i Is the density of the material, c i Is the longitudinal propagation velocity of the ultrasonic wave, S i I =1, 2, 3 as the cross-sectional area. k is a radical of i ＝ω i /c i ，ω i I =1, 2, 3 for the ultrasonic vibration angular frequency; c. C i Is the longitudinal propagation velocity of the ultrasonic wave. Since the rear end cap 11 and the piezoelectric ceramic 12 are attached to the horn 20, ρ is i And c i Calculating by adopting an equivalent area method:
in the formula S 13 Is the total cross-sectional area S of the connecting section of the rear end cover and the amplitude transformer 13 ＝S 1 +S 3 ，S 1 Is the cross-sectional area of the rear end cap, S 3 Is the sectional area of the amplitude transformer; s 23 Is the total cross-sectional area S of the connecting section of the piezoelectric ceramic piece and the amplitude transformer 23 ＝S 2 +S 3 ，S 2 The area of the cross section of the piezoelectric ceramic piece.
The specific derivation process of the resonance frequency equation on the right side of the 20-section surface of the amplitude transformer is as follows:
the four-terminal network transmission characteristic equation on the right side of the nodal plane is
The four-terminal network transmission matrix on the right side of the nodal plane is
b ij 1 I, j epsilon (1,2) is the four-terminal network transmission parameter of the right-side amplitude transformer; b ij 4 The i, j epsilon (1,2) is the four-end network transmission parameter of the fourth section bar; b ij 5 I, j epsilon (1,2) is a four-end network transmission parameter of the fifth section bar; v 3 、V 1 The left two-end speed; f 3 、F 1 Two ends of the left side are stressed;
determining the parameter V at two ends according to the motion state and stress condition of the right part of the nodal surface 4 ＝0,F 5 =0, and b is obtained by substituting equation (5) 22 =0, will b 22 Substituting =0 into equation (6) yields equation (2).
In the resonance frequency equation on the right side of the 20-section surface of the amplitude transformer:
Z i ＝ρ i c i S i ，ρ i is the density of the material, c i Is the longitudinal propagation velocity of the ultrasonic wave, S i Is a cross-sectional area，i＝4、5。k i ＝ω i /c i ，ω i I =4, 5 for ultrasonic vibration angular frequency; c. C i Is the longitudinal propagation velocity of the ultrasonic wave. Since the rear end cap 11 and the piezoelectric ceramic 12 are attached to the horn 20, ρ is i And c i Calculating by adopting an equivalent area method:
in the formula S 13 Is the total cross-sectional area S of the connecting section of the rear end cover and the amplitude transformer 13 ＝S 1 +S 3 ，S 1 Is the cross-sectional area of the rear end cap, S 3 Is the cross section area of the amplitude transformer; s 23 Is the total cross-sectional area S of the connecting section of the piezoelectric ceramic piece and the amplitude transformer 23 ＝S 2 +S 3 ，S 2 Is the cross-sectional area of the piezoelectric ceramic plate. Alpha is alpha 4 ＝(N 4 -1)/(N 4 L 4 )，N 4 The reduction ratio of the cross section is shown as,
the stator material selection comprises the following specific steps: it is desirable for the entire vibration system that the ultrasonic vibration waves propagate as far forward as possible, thus requiring the rear end of the vibration system to be heavier than the front end, i.e., the rear end to be denser than the front end. After data is checked and read, all factors are integrated, the rear end cover 11 is made of stainless steel 2Cr13, the piezoelectric ceramic piece is made of PZT-8, the connecting section 13 is made of light duralumin alloy 7A04, and the amplitude transformer 20 is made of light duralumin alloy 7A04. The relevant parameters of the three materials are found out and shown in the table.
TABLE 1 Material parameters
Determining the inner diameter r and the outer diameter R, L of the stator 2 、L 3 、L 4 The method comprises the following steps: since the number of materials and specifications of the piezoelectric ceramics 12 is limited, the materials and specifications of the piezoelectric ceramics are selected to be suitable, in which case R, R, L 2 Determining a numerical value; according to R, R, L 2 Numerical calculation of L 3 、L 4 . The PZT-8 used in the present application is a ring-shaped piezoelectric ceramic plate polarized along the thickness direction, and the inner diameter
Outer diameter
The thickness is 0.3mm; the diameters and lengths of the sections of the pick-up elements are shown in table 2, where R represents the outer diameter or the large end diameter and R represents the inner diameter or the small end diameter.
TABLE 2
| r(mm) | R(mm) | L1(mm) | L2(mm) | L3(mm) | L4(mm) | L5(mm) |
| 0.75 | 1.25 | 0.65 | 1.2 | 0.2 | 1.5 | 1 |
The simulation analysis of the vibration system comprises the following steps:
the method comprises the steps of carrying out modal response analysis on a vibration system formed by a stator, applying constraint conditions during working, obtaining different modal arrays of the system and corresponding resonance frequencies of the system, laying a cushion for dynamic analysis of a longitudinal vibration system in the future, and guiding condition application in an actual test. The mode is solved in an ANSYS command stream mode, and the first 6-order frequency of the system is extracted in a range of 20KHz to 300KHz, as shown in Table 3.
TABLE 3
| Sequence of | 1 | 2 | 3 | 4 | 5 | 6 |
| frequency/Hz | 147319 | 153129 | 185826 | 187821 | 261215 | 279633 |
The extracted vibration system corresponds to a longitudinal vibration mode with the frequency of 279633Hz, and the end part of the amplitude transformer vibrates along the longitudinal direction as shown in figure 4.
Finite element analysis is carried out on the motor stator, modal analysis is carried out on the ultrasonic motor stator, an array type with the frequency being more than 20KHz is extracted, an intermediate value with the corresponding frequency of a first second array type is excited, the bending composite ultrasonic motor, a point motion track diagram and the difference of the height amplitude of a circle are calculated, so that the required array type is selected, vibration displacement analysis and calculation are carried out, and the electric steel is ensured to reach the enough linear motion distance.
The simulation result shows that the longitudinal vibration frequency of the structure is 279.6KHz, and when the system receives an electric signal with the frequency, the vibration of the system has the maximum longitudinal amplitude at the end part. This frequency is the resonant frequency of the ultrasound system during operation. The system is subjected to the constraint conditions, simultaneously, sinusoidal voltage of 279633 +/-5 Hz is applied to the two ends of the ceramic chip, the effective value of the voltage is 200V, and the system harmonic response during longitudinal vibration can be obtained, so that the maximum amplitude of the end part resonance and the xy direction resonance amplitude of the end part resonance can be obtained, and as a result, the maximum axial amplitude of the resonance response of the end part of the vibrator system is 12.23mm and is far larger than the maximum radial amplitude of the resonance by 1.5mm.
In order to well reflect the actual working condition of the ultrasonic vibration system, the transient analysis is carried out on the stator, and the motion path of the change of mass points along with time is obtained. In transient analysis, the frequency of the alternating voltage applied to the electrodes was 279.6kHz, the effective value was 200V, the phase difference was 90 degrees, and the damping factor was 0.003. In order to obtain the vibration characteristics of the vibrator, a motion path curve of a mass point on the surface of the driving foot is extracted after analysis.
In the results of transient analysis of the ultrasonic vibration system under the sine wave excitation, the axial vibration amplitude of the contact point at the end of the horn 20 is much greater than the radial amplitude, and the maximum longitudinal amplitude at the contact point is extracted to be 5.34 μm. The corresponding transverse amplitude is small during longitudinal vibration, and the maximum amplitude is only about 0.7 mu m, namely, large longitudinal amplitude and certain radial amplitude are generated.
Under the conditions of selected size, modal shape, applied voltage and excitation frequency, comprehensive analysis is carried out, the frequency and single periodic displacement are combined to obtain the total motion path of the particles on the surface of the driving foot, and then the linear motion displacement of the electric steel shaft which is in contact with the driving foot through the pretightening force can be ensured to meet the design requirement.
The application also relates to a stator designed according to the stator design method of the ultrasonic driving structure of the prosthetic hand, which comprises an amplitude transformer 20 and a transducer 10 arranged on the amplitude transformer 20, wherein the transducer 10 comprises a rear end cover 11, piezoelectric ceramics 12 and a connecting section 13, the rear end cover 11 is made of stainless steel 2Cr13, and the length L of the rear end cover 11 is equal to that of the connecting section 13 1 0.6-0.7mm, the piezoelectric ceramic 12 is made of PZT-8, and the length L of the piezoelectric ceramic 12 2 1-1.4mm, inner diameter R0.65-0.85 mm, outer diameter R1-1.5 mm; the connecting section 13 is made of duralumin alloy 7A04, and the length L of the connecting section 13 3 0.1-0.3mm, 0.65-0.85mm of inner diameter R and 1-1.5mm of outer diameter R; the horn 20 is made of duralumin alloy 7A04, the horn 20 comprises a first shaft body 21 and a second shaft body 22, the length L of the first shaft body 21 and the length L of the second shaft body 22 are 4 ，L 5 Respectively 1-2mm and 0.5-1.5mm.
The stator designed by the application adopts the structure design of the amplitude transformer to realize the amplification of amplitude and vibration speed, has light weight and large driving force, and is suitable for the ultrasonic driving structure of the prosthetic hand.
The above examples only show several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, variations and modifications can be made without departing from the spirit of the invention, and all equivalent modifications and changes can be made to the above embodiments according to the essential technology of the invention, which falls into the protection scope of the invention.
Claims (10)
1. A design method of a stator of an ultrasonic driving structure of a prosthetic hand is characterized by comprising the following steps:
designing the structure of the stator: the stator comprises an amplitude transformer and an energy converter arranged on the amplitude transformer, the energy converter comprises a rear end cover, piezoelectric ceramics and a connecting section, wherein the length of the rear end coverIs L 1 Length of piezoelectric ceramic is L 2 The length of the connecting segment is L 3 The amplitude transformer comprises a first rod body and a second rod body which are L-shaped in sequence 4 ，L 5 ；
The left resonant frequency equation of the nodal surface of the amplitude transformer is as follows:
Z i is an equivalent impedance, k i Is wavenumber, i =1, 2, 3;
the equation of the resonance frequency on the right side of the nodal surface of the amplitude transformer is as follows:
Z i is an equivalent impedance, k i Is wave number, α 4 Is the taper coefficient, i =4, 5;
stator material selection: in order to transmit the ultrasonic vibration waves forwards as far as possible, the material density from the rear end cover, the piezoelectric ceramics to the amplitude transformer is reduced in sequence when the stator is selected;
determining the inner diameter r and the outer diameter R, L of the stator 2 、L 3 、L 4 : the material and specification of the piezoelectric ceramic are limited, and the material and specification of the piezoelectric ceramic are selected to be suitable, wherein R, R and L are 2 Determining a numerical value; according to R, R, L 2 Numerical calculation of L 3 、L 4 ；
Calculating L 1 And L 5 : mixing L with 2 、L 3 、L 4 Substituting the numerical values into the formula (1) and the formula (2), and calculating L 1 And L 5 ；
Carrying out simulation analysis on the vibration system: and (3) applying constraint conditions during working on the stator, and performing modal analysis, transient analysis and motion analysis on the vibration system and the stator to ensure that the stator meets the design requirements.
2. The method for designing a stator of an ultrasonic drive structure of a prosthetic hand according to claim 1, wherein: the resonance frequency equation on the left side of the nodal surface of the amplitude transformer comprises the following steps:
the transmission characteristic equation of the four-terminal network on the left side of the nodal plane is
The four-terminal network transmission matrix of the transducer on the left side of the nodal plane is
a ij 1 I, j epsilon (1,2) is a four-terminal network transmission parameter of the first section bar; aij2, i, j epsilon (1,2) are four-end network transmission parameters of the second section bar; aij3, i, j epsilon (1,2) are four-terminal network transmission parameters of the third section ceramic; v 3 、V 1 The left two-end speed; f 3 、F 1 Two ends of the left side are stressed;
determining the parameter V at two ends according to the motion state and stress condition of the left part of the nodal surface 3 ＝0，F 1 =0, and substituting the formula (3) to obtain a 11 =0, a 11 Substituting =0 into equation (4) yields equation (1).
3. The method for designing a stator of an ultrasonic drive structure of a prosthetic hand according to claim 1, wherein:
the four-terminal network transmission characteristic equation on the right side of the nodal plane is
The four-terminal network transmission matrix of the amplitude transformer on the right side of the nodal plane is
b ij 1 I, j epsilon (1,2) is the four-terminal network transmission parameter of the right-side amplitude transformer; bij 4 The i, j epsilon (1,2) is the four-end network transmission parameter of the fourth section bar; bij 5 I, j epsilon (1,2) is a four-end network transmission parameter of the fifth section bar; v 3 、V 1 The left two-end speed; f 3 、F 1 Two ends of the left side are stressed;
determining the parameters of two ends as V according to the motion state and stress condition of the right part of the nodal surface 4 ＝0,F 5 =0, and b is obtained by substituting equation (5) 22 =0, will b 22 Substituting =0 into equation (6) yields equation (2).
4. A method of designing a stator for an ultrasonic drive configuration of a prosthetic hand according to claim 1, wherein: z is a linear or branched member i ＝ρ i c i S i ，ρ i Is the density of the material, c i Is the longitudinal propagation velocity of the ultrasonic wave, S i I =1, 2, 3, 4, 5 for cross-sectional area.
5. The method for designing a stator of an ultrasonic drive structure of a prosthetic hand according to claim 1, wherein: k is a radical of i ＝ω i /c i ，ω i I =1, 2, 3, 4, 5 for the ultrasonic vibration angular frequency; c. C i Is the longitudinal propagation velocity of the ultrasonic wave.
6. A stator design method of an ultrasonic driving structure of a prosthetic hand according to claim 4 or 5, characterized in that: since the rear end cap and the piezoelectric ceramic are mounted on the horn, ρ is i And c i Calculating by adopting an equivalent area method:
in the formula S 13 Is the total cross-sectional area S of the connecting section of the rear end cover and the amplitude transformer 13 ＝S 1 +S 3 ，S 1 Is the cross-sectional area of the rear end cap, S 3 Is the sectional area of the amplitude transformer; s. the 23 Is the total cross-sectional area S of the connecting section of the piezoelectric ceramic piece and the amplitude transformer 23 ＝S 2 +S 3 ，S 2 The area of the cross section of the piezoelectric ceramic piece.
7. The method for designing a stator of an ultrasonic drive structure of a prosthetic hand according to claim 1, wherein: alpha is alpha 4 ＝(N 4 -1)/(N 4 L 4 )，N 4 In order to obtain a reduction ratio of the cross section,
8. a method of designing a stator for an ultrasonic drive configuration of a prosthetic hand according to claim 1, wherein: the rear end cover is made of stainless steel 2Cr13, the piezoelectric ceramic piece is made of PZT-8, and the amplitude transformer is made of duralumin alloy 7A04.
9. The method for designing a stator of an ultrasonic drive structure of a prosthetic hand according to claim 1, wherein: when the stator is subjected to modal analysis, data with the frequency greater than 20KHz are extracted, the data are excited with the intermediate value of the frequency corresponding to the first and second order matrix types to obtain a point motion track diagram, the difference of the high and low amplitudes of the periodic circle is calculated, so that the required matrix type is selected, vibration displacement analysis and calculation are carried out, and the electric steel is ensured to reach the sufficient linear motion distance.
10. A stator designed according to the stator design method of the ultrasonic driving structure of the prosthetic hand according to any one of claims 1 to 9, wherein: the energy converter comprises an amplitude transformer and an energy converter arranged on the amplitude transformer, wherein the energy converter comprises a rear end cover, piezoelectric ceramics and a connecting section, the rear end cover is made of stainless steel 2Cr13, and the length L of the rear end cover is equal to that of the rear end cover 1 0.6-0.7mm, the piezoelectric ceramic is made of PZT-8, and the length L of the piezoelectric ceramic is 2 1-1.4mm, inner diameter R0.65-0.85 mm, outer diameter R1-1.5 mm; length L of the connecting segment 3 0.1-0.3mm in inner diameterR is 0.65-0.85mm, and the outer diameter R is 1-1.5mm; the amplitude transformer is made of duralumin alloy 7A04, and the lengths L of the first rod body and the second rod body of the amplitude transformer 4 ，L 5 Respectively 1-2mm and 0.5-1.5mm.
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| CN202211275584.4A CN115549521A (en) | 2022-10-18 | 2022-10-18 | Stator design method of ultrasonic driving structure of prosthetic hand and stator |
| PCT/CN2022/128929 WO2024082337A1 (en) | 2022-10-18 | 2022-11-01 | Stator design method for prosthetic hand ultrasonic driving structure, and stator |
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| CN202211275584.4A CN115549521A (en) | 2022-10-18 | 2022-10-18 | Stator design method of ultrasonic driving structure of prosthetic hand and stator |
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