尺蠖型超磁致伸缩旋转驱动器的静动态特性建模与实验

周景涛; 柏果; 刘国平

doi:10.3788/OPE.20192710.2215

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尺蠖型超磁致伸缩旋转驱动器的静动态特性建模与实验

微纳技术与精密机械 | 更新时间：2020-08-13

- 尺蠖型超磁致伸缩旋转驱动器的静动态特性建模与实验
- Modeling and experiment of static and dynamic characteristics of inchwormgiant magnetostrictive rotary actuator
- 光学精密工程 2019年27卷第10期页码：2215-2223
- 作者机构：
  
  陆军工程大学石家庄校区，河北石家庄 050003
- 作者简介：
  
  [ "周景涛(1981-)，男，河北无极人，博士研究生，2003年、2006于装甲兵工程学院分别获得学士、硕士学位，主要从事超磁致伸缩致动器及驱动技术研究。E-mail：luori810115@163.com" ]
- 基金信息：
  
  国家自然科学基金资助项目(No.51275525)
- DOI：10.3788/OPE.20192710.2215
  中图分类号： TH703.8
- 收稿日期：2019-01-11，
  
  录用日期：2019-3-26，
  
  纸质出版日期：2019-10-25
- 稿件说明：
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周景涛, 柏果, 刘国平. 尺蠖型超磁致伸缩旋转驱动器的静动态特性建模与实验[J]. 光学精密工程, 2019,27(10):2215-2223.

Jing-tao ZHOU, Guo BAI, Guo-ping LIU. Modeling and experiment of static and dynamic characteristics of inchwormgiant magnetostrictive rotary actuator[J]. Optics and precision engineering, 2019, 27(10): 2215-2223.
周景涛, 柏果, 刘国平. 尺蠖型超磁致伸缩旋转驱动器的静动态特性建模与实验[J]. 光学精密工程, 2019,27(10):2215-2223. DOI： 10.3788/OPE.20192710.2215.

Jing-tao ZHOU, Guo BAI, Guo-ping LIU. Modeling and experiment of static and dynamic characteristics of inchwormgiant magnetostrictive rotary actuator[J]. Optics and precision engineering, 2019, 27(10): 2215-2223. DOI： 10.3788/OPE.20192710.2215.

摘要

为了满足大行程、高精度旋转运动的需求，以尺蠖型累积步进角位移为原理，设计了尺蠖型超磁致伸缩旋转驱动器。以超磁致伸缩棒为动力源、直角柔性铰链为回弹元件，通过施加特定时序的激励信号，使钳紧机构和驱动机构有效配合，实现了转子的步进式角位移输出。将直角柔性铰链简化为超静定梁进行了静动态特性分析，并建立了空间力学模型。搭建了实验测试系统，对超磁致伸缩旋转驱动器的输出性能、钳紧稳定性和输出角位移稳定性进行了实验测试。实验结果表明：在驱动电压为4.5 V、频率为2 Hz的条件下，平均单步角位移为278.81

rad，最大误差为7.92

rad，最大相对误差为2.83%；系统钳紧机构的径向跳动小于1.35

m，驱动器工作状态稳定可靠，输出精度高，可实现360°转动；模型计算结果与实验结果基本一致，最大误差为12.11

rad，最大相对误差为4.34%。

Abstract

In order to meet the requirements of large-stroke and high-precision rotating motion

an inchworm giant magnetostrictive rotary actuator was designed based on the principle of inchworm cumulative stepping angular displacement. With a giant magnetostrictive rod as the power source and a right-angle flexure hinge as the springback element

the stepping angular displacement output of the rotor was realized by applying a specific excitation timing signal to make the clamping mechanism and driving mechanism cooperate effectively. The static and dynamic characteristics of rectangular flexure hinges were analyzed by simplifying them into statically indeterminate beams

and a spatial mechanical model was established. The experimental test system was built

and the output performance

clamping stability

and stability of the output angular displacement of the inchworm magnetostrictive rotary actuator were tested. The experimental results show that when the driving voltage is 4.5 V and the frequency is 2 Hz

the average one-step angular displacement is 278.81

rad

the maximum error is 7.92

rad

the maximum relative error is 2.83%

and the radial run-out of the clamping mechanism is less than 1.35

m. The rotary actuator works stably and reliably with a high output precision

which can rotate 360°. The calculated results of the model are in agreement with the experimental results. The maximum error is 12.11

rad and the maximum relative error is 4.34%.

关键词

Keywords

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