Design, Analysis and Experimental Performance of a Bionic Piezoelectric Rotary Actuator
Design, Analysis and Experimental Performance of a Bionic Piezoelectric Rotary Actuator作者机构：State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2017年第14卷第2期
页 面：348-355页
核心收录：
学科分类：0710[理学-生物学] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0835[工学-软件工程] 0836[工学-生物工程] 0702[理学-物理学] 081202[工学-计算机软件与理论] 0812[工学-计算机科学与技术（可授工学、理学学位）]
主 题：bionic foot piezoelectric rotary actuator centipede foot stick-slip
摘 要：This study presents a piezoelectric rotary actuator which is equipped with a bionic driving mechanism imitating the cen- tipede foot. The configuration and the operational principle are introduced in detail. The movement model is established to analyze the motion of the actuator. We establish a set of experimental system and corresponding experiments are conducted to evaluate the characteristics of the prototype. The results indicate that the prototype can be operated stably step by step and all steps have high reproducibility. The driving resolutions in forward and backward motions are 2.31 grad and 1.83 μrad, respectively. The prototype can also output a relatively accurate circular motion and the maximum output torques in forward and backward directions are 76.4 Nmm and 70.6 Nmm, respectively. Under driving frequency of 1 Hz, the maximum angular velocities in forward and backward directions are 1029.3 grad·s^-1 and 1165 μrad·s^-1 when the driving voltage is 120 V. Under driving voltage of 60 V, the angular velocities in forward and backward motions can be up to 235100 grad·s^-1 and 153650 μrad·s^-1 when the driving frequency is 1024 Hz. We can obtain the satisfactory angular velocity by choosing a proper driving voltage and frequency for the actuator.
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