压电谐波电机承载能力的研究

以保证柔轮与刚轮的正常啮合为条件,引入计算径向变形量系数,设计径向变形量系数以及允许位移损失系数,通过确定位移放大机构输出端允许位移损失量或柔轮的实际径向变形量,计算压电谐波电机承载能力。建立了压电谐波电机承载能力的设计准则,是包括压电驱动器驱动能力选择以及其他结构尺寸设计与校核的主要依据。其输出扭矩与压电驱动器与位移放大机构的刚度成正比,与柔轮变形力、轮齿啮合角以及摩擦系数成反比。克服了基于压电驱动器最大驱动能力建立压电谐波电机输出扭矩方法的缺陷。该模型也可用于采用超磁致伸缩等其他驱动器的谐波电机承载能力的计算。设计计算表明,相对于一般原动机,压电谐波电机能提供较大的输出扭矩。

Study on Load Carrying Ability of Harmonic Piezomotor

Under the condition of assuring regular engagement between teeth of flexspline and rigid spline,after introducing calculate-radial-deformation coefficient(CRDC),design-radial-deformation coefficient(DRDC) and displacement-loss-allowance coefficient(DLAC),the load carrying ability of harmonic piezomotor formula is established by determining the displacement loss allowance at the output end of displacement amplifier or the actual radial deformation of flexspline.As the design criteria for harmonic piezomotor load carrying ability,it is also the main basis for the structure dimensional designing and checking,the piezoactuators drive capability selection.Research shows that the output moment of harmonic piezomotor is proportional to the rigidity of piezoactuators and displacement amplifiers,and inversely proportional to the flexspline elasticity force,meshing angle and friction coefficient.Presenting model can be used in the GMM harmonic motor and overcomes the limitation that the actuators' maximum drive power determined the load carrying ability of harmonic piezomotor.Comparing with general prime movers,design calculation shows that harmonic piezomotor can provide relatively great output moment.