CN115603609A - Friction actuator based on conjugate curve mechanism and working method thereof - Google Patents
Friction actuator based on conjugate curve mechanism and working method thereof Download PDFInfo
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- H—ELECTRICITY
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- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- 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
- H02N2/103—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors by pressing one or more vibrators against the rotor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- 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
- H02N2/12—Constructional details
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- 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
- H02N2/14—Drive circuits; Control arrangements or methods
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Abstract
The invention discloses a friction actuator based on a conjugate curve mechanism and a working method thereof. The rotor and the driving module form a conjugate curve mechanism, the contour curve of the rotor is a conjugate curve, and the driving module can translate in the guide grooves of the two pressing plates and can rotate freely. Under the action of friction force, the two actuators work independently to drive the actuators to rotate in the positive and negative directions respectively. The invention has simple structure, reliable control and high positioning precision, and can be applied in the fields of optical fiber butt joint and the like.
Description
Technical Field
The invention relates to the technical field of micro and special motors, in particular to a friction actuator based on a conjugate curve mechanism and a working method thereof.
Background
The piezoelectric ceramic element has the characteristics of high response speed, large output, good environmental adaptability and high precision, and is widely applied to the aerospace field. At present, most of rotary piezoelectric actuators based on an inchworm motion principle and an inertial impact principle have strict requirements on driver assembly, complex structure, high manufacturing cost and poor system self-adaptability in the presence of friction and abrasion, and the factors are not beneficial to wide application of the rotary piezoelectric actuators based on the inertial principle in actual production and life.
Disclosure of Invention
The invention aims to solve the technical problem of providing a friction actuator based on a conjugate curve mechanism and a working method thereof aiming at the defects related in the background technology.
The invention adopts the following technical scheme for solving the technical problems:
a friction actuator based on a conjugate curve mechanism comprises a rotor, a first pressing plate, a second pressing plate, a rotating support and a first actuator, wherein the second actuator, a first driving foot, a second driving foot, a first bearing, a second bearing, a first rotating shaft, a second rotating shaft, a first spring and a second spring;
the rotor is strip-shaped and comprises an upper end face, a lower end face and side walls, the profiles of the side walls on the two sides of the rotor are symmetrical conjugate curves, and a first bearing mounting hole penetrating through the center of the upper end face of the rotor is formed in the center of the upper end face of the rotor;
the first pressing plate and the second pressing plate are identical in structure, one end of each pressing plate is provided with a guide groove along the length direction of the pressing plate, and the other end of each pressing plate is provided with a fixing hole; the first pressing plate and the second pressing plate are symmetrical about a straight line where the upper guide groove is located;
the rotary bracket is columnar, and a second bearing mounting hole which penetrates through the rotary bracket is formed along the axis of the rotary bracket;
the first actuator and the second actuator are both cylindrical piezoelectric stacks and are symmetrically arranged, one ends of the first actuator and the second actuator are fixedly connected with the side wall of the rotating support and are perpendicular to the axis of the rotating support;
the first driving foot and the second driving foot are respectively arranged at one ends of the first actuator and the second actuator, which are far away from the rotating bracket;
the first bearing is arranged in the first bearing mounting hole, the outer ring of the first bearing is fixedly connected with the rotor, the inner ring of the first bearing is fixedly connected with the first rotating shaft, and two ends of the first rotating shaft are fixedly connected with the fixing holes on the first pressing plate and the second pressing plate respectively, so that the rotor is positioned between the first pressing plate and the second pressing plate and can rotate freely;
the second rotating shaft is provided with a first annular groove and a second annular groove which are matched with the guide grooves of the first pressing plate and the second pressing plate respectively;
the second bearing is arranged in the second bearing mounting hole, the outer ring of the second bearing is fixedly connected with the rotating support, the inner ring of the second bearing is fixedly connected with the second rotating shaft, and the first annular groove and the second annular groove on the second rotating shaft are respectively matched with the guide grooves of the first pressing plate and the second pressing plate, so that the rotating support is positioned between the first pressing plate and the second pressing plate, can freely rotate and can freely slide along the guide grooves of the first pressing plate and the second pressing plate;
two ends of the first spring are fixedly connected with one end of the first rotating shaft and one end of the second rotating shaft respectively, two ends of the second spring are fixedly connected with the other end of the first rotating shaft and the other end of the second rotating shaft respectively, and the first spring and the second spring are in stretching shapes, so that the first driving foot and the second driving foot are abutted against the side wall of the rotor;
the first actuator and the second actuator are used for receiving an external instruction to extend or shorten so as to drive the rotor to rotate.
As an optimized solution of the friction actuator based on the conjugate curve mechanism, an included angle between the first actuator and the second actuator is 90 °.
The invention also discloses a working method of the friction actuator based on the conjugate curve mechanism, which comprises the following steps:
the center of the first rotating shaft is taken as an original point, the left hand is placed at the position of the original point, the thumb, the index finger and the middle finger form a right angle, the thumb points to the first pressure plate from the second pressure plate along the axis of the first rotating shaft, the direction of the first pressure plate is the positive direction of the Z axis, the index finger points to the positive direction of the Y axis, and the direction pointed by the middle finger is the positive direction of the X axis; in the X-Y plane, the rotor rotates clockwise along the Z axis to be positive rotation, and the rotor rotates anticlockwise along the Z axis to be reverse rotation;
in the initial state, the first actuator and the second actuator keep the initial lengths, the first driving foot and the second driving foot are in contact with the rotor under the action of the tension of the first spring and the second spring, and the system is in a static balance state;
if the rotor is required to rotate in the forward direction, the driving is carried out according to the following period:
step A.1), driving the second actuator to extend gradually, so that the second driving foot pushes the rotor to rotate forwards by a angle theta 1 Under the action of the reaction force of the rotor, the rotating bracket moves delta h along the negative direction of the Y axis 1 ；
Step A.2), driving the second actuator to shorten to the initial length, so that the second driving foot is separated from the rotor, and the rotor keeps rotating forwards by a positive rotation angle theta 1 The change is not changed;
step A.3), under the action of spring tension, the rotating bracket generates a forward rotating trend, and the first driving foot rotates forward along with the rotating bracket and generates relative sliding movement with the rotor in a continuous contact state; the second driving foot positively rotates along with the rotating bracket in a state of being separated from the rotor; the rotating bracket moves towards the positive direction of the Y axis simultaneously in the rotating process, and when the rotating bracket rotates by an angle theta 2 When the second rotating shaft is in a balanced state, the second driving foot is contacted with the rotor again, and at the moment, the rotor rotates by an angle theta 1 Angle theta of rotation of the rotary support 2 ；
Step A.4), the first actuator and the second actuator are restored to the initial lengths, the first driving foot and the second driving foot are in contact with the rotor, the rotor is locked, and the system is restored to the balance state;
if the rotor is required to rotate reversely, the driving is carried out according to the following period:
step B.1), driving the first actuator to gradually extend, so that the first driving foot pushes the rotor to rotate reversely by a rotation angle theta 3 Under the action of the reaction force of the rotor, the rotating bracket moves delta h along the negative direction of the Y axis 1 ；
Step B.2), driving the first actuator to shorten to the initial length so that the first actuator shortens to the initial lengthThe driving foot is separated from the rotor, and the rotor keeps rotating at a positive rotation angle theta 3 The change is not changed;
step B.3), under the action of the tension of the spring, the rotating bracket generates a reverse rotating trend, and the second driving foot rotates reversely along with the rotating bracket and generates relative sliding movement with the rotor in a continuous contact state; the first driving foot reversely rotates along with the rotating bracket in a state of being separated from the rotor; the rotating bracket moves towards the positive direction of the Y axis simultaneously in the rotating process, and when the rotating bracket rotates by an angle theta 4 When the second rotating shaft is in a balanced state, the first driving foot is contacted with the rotor again, and at the moment, the rotor rotates by an angle theta 3 Angle theta of rotation of the rotary support 4 ；
And B.4), the first actuator and the second actuator are restored to the initial lengths, the first driving foot and the second driving foot are in contact with the rotor, the rotor is locked, and the system is restored to the balance state.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the invention does not need a plurality of clamping mechanisms and auxiliary mechanisms, can complete the continuous forward and reverse rotation work required by the motor by using two actuators, has simple control circuit and control method, simple assembly and low processing and manufacturing cost;
2. the self-adaptive capacity is strong, when the structure is abraded due to friction, the system can perform self-compensation through the elastic element, and therefore the system can be guaranteed to operate normally;
3. the structure is simple, the current structure can form two groups of driving mechanisms capable of reproducing the same motion rule of the driven part, the positive and negative rotation of the actuator can be considered to be respectively driven by the two driving mechanisms in a coordinated mode, and the two groups of mechanisms do not influence each other when working respectively.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a right side view of the present invention;
fig. 4 is a schematic diagram of the operation of the present invention in the forward direction.
In the figure, 1-first press plate, 2-second press plate, 3-first rotating shaft, 4-second rotating shaft, 5-first spring, 6-second spring, 7-rotating bracket, 8-first actuator, 9-second actuator, 10-first driving foot, 11-second driving foot, 12-rotor.
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.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, components and/or sections, these elements, components and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, and/or section from another. Thus, a first element, component, and/or section discussed below could be termed a second element, component, or section without departing from the teachings of the present invention.
As shown in fig. 1, 2 and 3, the invention discloses a friction actuator based on a conjugate curve mechanism, which comprises a rotor, a first pressure plate, a second pressure plate, a rotating bracket, a first actuator, a second actuator, a first driving foot, a second driving foot, a first bearing, a second bearing, a first rotating shaft, a second rotating shaft, a first spring and a second spring;
the rotor is strip-shaped and comprises an upper end face, a lower end face and side walls, the profiles of the side walls on the two sides of the rotor are symmetrical conjugate curves, and a first bearing mounting hole which penetrates through the center of the upper end face of the rotor is formed in the center of the upper end face of the rotor;
the first pressing plate and the second pressing plate are identical in structure, one end of each pressing plate is provided with a guide groove along the length direction of the pressing plate, and the other end of each pressing plate is provided with a fixing hole; the first pressing plate and the second pressing plate are symmetrical about a straight line where the upper guide groove is located;
the rotary bracket is columnar, and a second bearing mounting hole which penetrates through the rotary bracket is formed along the axis of the rotary bracket;
the first actuator and the second actuator are both cylindrical piezoelectric stacks and are symmetrically arranged, one ends of the first actuator and the second actuator are fixedly connected with the side wall of the rotating support and are perpendicular to the axis of the rotating support;
the first driving foot and the second driving foot are respectively arranged at one ends of the first actuator and the second actuator, which are far away from the rotating bracket;
the first bearing is arranged in the first bearing mounting hole, the outer ring of the first bearing is fixedly connected with the rotor, the inner ring of the first bearing is fixedly connected with the first rotating shaft, and two ends of the first rotating shaft are fixedly connected with the fixing holes on the first pressing plate and the second pressing plate respectively, so that the rotor is positioned between the first pressing plate and the second pressing plate and can rotate freely;
the second rotating shaft is provided with a first annular groove and a second annular groove which are matched with the guide grooves of the first pressing plate and the second pressing plate respectively;
the second bearing is arranged in the second bearing mounting hole, the outer ring of the second bearing is fixedly connected with the rotating support, the inner ring of the second bearing is fixedly connected with the second rotating shaft, and the first annular groove and the second annular groove on the second rotating shaft are respectively matched with the guide grooves of the first pressing plate and the second pressing plate, so that the rotating support is positioned between the first pressing plate and the second pressing plate, can freely rotate and can freely slide along the guide grooves of the first pressing plate and the second pressing plate;
two ends of the first spring are fixedly connected with one end of the first rotating shaft and one end of the second rotating shaft respectively, two ends of the second spring are fixedly connected with the other end of the first rotating shaft and the other end of the second rotating shaft respectively, and the first spring and the second spring are in stretching shapes, so that the first driving foot and the second driving foot are abutted against the side wall of the rotor;
the first actuator and the second actuator are used for receiving an external instruction to extend or shorten so as to drive the rotor to rotate.
The included angle between the first actuator and the second actuator is preferably 90 °.
As shown in fig. 4, the present invention also discloses a working method of the friction actuator based on the conjugate curve mechanism, which comprises the following steps:
the center of the first rotating shaft is taken as an original point, the left hand is placed at the position of the original point, the thumb, the index finger and the middle finger form a right angle, the direction of the thumb pointing to the first pressing plate from the second pressing plate along the axis of the first rotating shaft is the positive direction of the Z axis, the direction of the index finger pointing to the positive direction of the Y axis, and the direction of the middle finger pointing to the positive direction of the X axis; in the X-Y plane, the rotor rotates clockwise along the Z axis to be positive rotation, and the rotor rotates anticlockwise along the Z axis to be reverse rotation;
in the initial state, the first actuator and the second actuator keep the initial lengths, the first driving foot and the second driving foot are in contact with the rotor under the action of the tension of the first spring and the second spring, and the system is in a static balance state;
if the rotor is required to rotate in the forward direction, the driving is carried out according to the following period:
step A.1), driving the second actuator to extend gradually, so that the second driving foot pushes the rotor to rotate forwards by a angle theta 1 The rotating bracket moves delta h along the negative direction of the Y axis under the action of the reaction force of the rotor 1 ；
Step A.2), driving the second actuator to shorten to the initial length, so that the second driving foot is separated from the rotor, and the rotor keeps rotating forwards by a rotation angle theta 1 The change is not changed;
step A.3), under the action of the tension of a spring, the rotating support generates a forward rotating trend, and the first driving foot positively rotates along with the rotating support and generates relative sliding movement with the rotor in a continuous contact state; the second driving foot positively rotates along with the rotating bracket under the state of being separated from the rotor; the rotating bracket moves towards the positive direction of the Y axis simultaneously in the rotating process, and when the rotating bracket rotates by an angle theta 2 When the second rotating shaft is in a balanced state, the second driving foot is contacted with the rotor again, and at the moment, the rotor rotates by an angle theta 1 Angle theta of rotation of the rotary support 2 ；
Step A.4), the first actuator and the second actuator are restored to the initial lengths, the first driving foot and the second driving foot are in contact with the rotor, the rotor is locked, and the system is restored to the balance state;
if the rotor is required to rotate reversely, the driving is carried out according to the following period:
step B.1), driving the first actuator to gradually extend to enable the first actuator to gradually extendThe first driving foot drives the rotor to rotate reversely by the angle theta 3 The rotating bracket moves delta h along the negative direction of the Y axis under the action of the reaction force of the rotor 1 ；
Step B.2), driving the first actuator to shorten to the initial length, so that the first driving foot is separated from the rotor, and the rotor keeps rotating forwards by a rotation angle theta 3 The change is not changed;
step B.3), under the action of the tension of the spring, the rotating bracket generates a reverse rotating trend, and the second driving foot rotates reversely along with the rotating bracket and generates relative sliding movement with the rotor in a continuous contact state; the first driving foot reversely rotates along with the rotating bracket in a state of being separated from the rotor; the rotating bracket moves towards the positive direction of the Y axis simultaneously in the rotating process, and when the rotating bracket rotates by an angle theta 4 When the second rotating shaft is in a balanced state, the first driving foot is contacted with the rotor again, and at the moment, the rotor rotates by an angle theta 3 Angle theta of rotation of the rotary support 4 ；
And B.4), the first actuator and the second actuator are restored to the initial lengths, the first driving foot and the second driving foot are in contact with the rotor, the rotor is locked, and the system is restored to the balance state.
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 examples of the present invention, and should not be construed as limiting 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 protection scope of the present invention.
Claims (3)
1. A friction actuator based on a conjugate curve mechanism is characterized by comprising a rotor, a first pressing plate, a second pressing plate, a rotating support and a first actuator, wherein the second actuator, a first driving foot, a second driving foot, a first bearing, a second bearing, a first rotating shaft, a second rotating shaft, a first spring and a second spring;
the rotor is strip-shaped and comprises an upper end face, a lower end face and side walls, the profiles of the side walls on the two sides of the rotor are symmetrical conjugate curves, and a first bearing mounting hole which penetrates through the center of the upper end face of the rotor is formed in the center of the upper end face of the rotor;
the first pressing plate and the second pressing plate are identical in structure, one end of each pressing plate is provided with a guide groove along the length direction of the pressing plate, and the other end of each pressing plate is provided with a fixing hole; the first pressing plate and the second pressing plate are symmetrical about a straight line where the guide groove is located;
the rotary bracket is columnar, and a second bearing mounting hole which penetrates through the rotary bracket is formed along the axis of the rotary bracket;
the first actuator and the second actuator are both cylindrical piezoelectric stacks and are symmetrically arranged, one ends of the first actuator and the second actuator are fixedly connected with the side wall of the rotating support and are perpendicular to the axis of the rotating support;
the first driving foot and the second driving foot are respectively arranged at one ends of the first actuator and the second actuator, which are far away from the rotating bracket;
the first bearing is arranged in the first bearing mounting hole, the outer ring of the first bearing is fixedly connected with the rotor, the inner ring of the first bearing is fixedly connected with the first rotating shaft, and two ends of the first rotating shaft are fixedly connected with the fixing holes in the first pressing plate and the second pressing plate respectively, so that the rotor is positioned between the first pressing plate and the second pressing plate and can rotate freely;
the second rotating shaft is provided with a first annular groove and a second annular groove which are matched with the guide grooves of the first pressing plate and the second pressing plate respectively;
the second bearing is arranged in the second bearing mounting hole, the outer ring of the second bearing is fixedly connected with the rotating support, the inner ring of the second bearing is fixedly connected with the second rotating shaft, and the first annular groove and the second annular groove on the second rotating shaft are respectively matched with the guide grooves of the first pressing plate and the second pressing plate, so that the rotating support is positioned between the first pressing plate and the second pressing plate, can freely rotate and can freely slide along the guide grooves of the first pressing plate and the second pressing plate;
two ends of the first spring are fixedly connected with one end of the first rotating shaft and one end of the second rotating shaft respectively, two ends of the second spring are fixedly connected with the other end of the first rotating shaft and the other end of the second rotating shaft respectively, and the first spring and the second spring are in stretching shapes, so that the first driving foot and the second driving foot are abutted against the side wall of the rotor;
the first actuator and the second actuator are used for receiving an external instruction to extend or shorten so as to drive the rotor to rotate.
2. The conjugate curve mechanism-based friction actuator as defined in claim 1, wherein the angle between the first and second actuators is 90 °.
3. The method of operating a friction actuator based on a conjugate curve mechanism as defined in claim 1, comprising the steps of:
the center of the first rotating shaft is taken as an original point, the left hand is placed at the position of the original point, the thumb, the index finger and the middle finger form a right angle, the direction of the thumb pointing to the first pressing plate from the second pressing plate along the axis of the first rotating shaft is the positive direction of the Z axis, the direction of the index finger pointing to the positive direction of the Y axis, and the direction of the middle finger pointing to the positive direction of the X axis; in the X-Y plane, the rotor rotates clockwise along the Z axis to be positive rotation, and the rotor rotates anticlockwise along the Z axis to be reverse rotation;
in the initial state, the first actuator and the second actuator keep the initial length, and the first driving foot and the second driving foot are in contact with the rotor under the action of the tension of the first spring and the second spring, so that the system is in a static balance state;
if the rotor is required to rotate in the forward direction, the driving is carried out according to the following period:
step A.1), driving the second actuator to gradually extend, so that the second driving foot pushes the rotor to rotate forwards by a rotation angle theta 1 Under the action of the reaction force of the rotor, the rotating bracket moves along the negative direction of the Y axisΔh 1 ；
Step A.2), driving the second actuator to shorten to the initial length, so that the second driving foot is separated from the rotor, and the rotor keeps rotating forwards by a rotation angle theta 1 The change is not changed;
step A.3), under the action of spring tension, the rotating bracket generates a forward rotating trend, and the first driving foot rotates forward along with the rotating bracket and generates relative sliding movement with the rotor in a continuous contact state; the second driving foot positively rotates along with the rotating bracket in a state of being separated from the rotor; the rotating bracket moves towards the positive direction of the Y axis simultaneously in the rotating process, and when the rotating bracket rotates by an angle theta 2 When the second rotating shaft is in a balanced state, the second driving foot is contacted with the rotor again, and at the moment, the rotor rotates by an angle theta 1 Angle theta of rotation of the rotary support 2 ；
Step A.4), the first actuator and the second actuator are restored to the initial lengths, the first driving foot and the second driving foot are in contact with the rotor, the rotor is locked, and the system is restored to the balance state;
if the rotor is required to rotate reversely, the driving is carried out according to the following period:
step B.1), driving the first actuator to gradually extend, so that the first driving foot pushes the rotor to rotate reversely by a rotation angle theta 3 Under the action of the reaction force of the rotor, the rotating bracket moves delta h along the negative direction of the Y axis 1 ；
Step B.2), driving the first actuator to shorten to the initial length, so that the first driving foot is separated from the rotor, and the rotor keeps rotating forwards by a positive rotation angle theta 3 Keeping the original shape;
step B.3), under the action of the tension of the spring, the rotating bracket generates a reverse rotating trend, and the second driving foot rotates reversely along with the rotating bracket and generates relative sliding movement with the rotor in a continuous contact state; the first driving foot reversely rotates along with the rotating bracket in a state of being separated from the rotor; the rotating bracket moves towards the positive direction of the Y axis simultaneously in the rotating process, and when the rotating bracket rotates by an angle theta 4 When the second rotating shaft is in a balanced state, the first driving foot is contacted with the rotor again, and at the moment, the rotor rotates by an angle theta 3 Angle θ of rotation of the rotating support 4 ；
And B.4), the first actuator and the second actuator are restored to the initial lengths, the first driving foot and the second driving foot are in contact with the rotor, the rotor is locked, and the system is restored to the balance state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211263053.3A CN115603609A (en) | 2022-10-14 | 2022-10-14 | Friction actuator based on conjugate curve mechanism and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211263053.3A CN115603609A (en) | 2022-10-14 | 2022-10-14 | Friction actuator based on conjugate curve mechanism and working method thereof |
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| Publication Number | Publication Date |
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| CN115603609A true CN115603609A (en) | 2023-01-13 |
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| CN202211263053.3A Pending CN115603609A (en) | 2022-10-14 | 2022-10-14 | Friction actuator based on conjugate curve mechanism and working method thereof |
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| CN (1) | CN115603609A (en) |
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