压电谐波电机的研究

压电谐波电机是利用固定的压电驱动器及其位移放大机构作为谐波齿轮传动的波发生器，通过对压电元件的变形形状进行周期性控制，经过位移放大器进行位移放大，使柔轮产生周期性变形。只要使压电波发生器与柔轮接触的各离散点，按给定的柔轮变形规律进行变形，且驱动器的数目以及结构等参数满足连续啮合传动的要求，便可得到低转速的输出，它是一种基于谐波传动原理的新型步进电机。分析了压电波发生器结构以及控制系统的设计。它具有低速输出，功率密度大，结构简单，尺寸小，容易微型化，转动惯量小，定位精度高、效率高和噪音低等特点。

Study on Harmonic Piezomotor

Harmonic piezomotor has the wave generator which contains fixed piezoactuator and displacement amplifier, by means of controlling the piezoactuator deformation periodically and amplifying its displacement, the flexspline generates periodic deformation. As long as the discrete contact points between piezo wave generator and flexspline deform in accordance with given flexspline deformation figure, and the actuators' number, structure parameters etc. meet the requirements of continuous transmission, harmonic piezomotor can obtain low speed output. It is one new type of stepping motor. The configuration and design of piezo wave generator and control system have been accomplished. It has the following features: low speed output, high power density, simple configuration, compact size, prone to micromation?small moment of inertia, high location precision,high efficiency, low noise etc.