Influence of friction force on seal mechanism with one degree of freedom

MHS2003. Proceedings of 2003 International Symposium on Micromechatronics and Human Science (IEEE Cat. No.03TH8717) Pub Date : 2003-12-08 DOI:10.1109/MHS.2003.1249961

K. Kawagoe, K. Furutani

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引用次数: 2

Abstract

This paper deals with the influence of a friction force on a small mobile device, seal mechanism with a 1-degree of freedom (DOF). This device has a piezoelectric actuator, electromagnet CA that applies a constant friction force and electromagnet CB controlled. The friction at electromagnets CB is alternated by on-off control. The whole device wriggles with electromagnets CA while the piezoelectric actuator extends and contracts. The 1-DOF device can move up to micrometer steps. The movable range is infinite in principle. Seal mechanism has the same structure as the inchworm mechanism. However, seal mechanism has a smaller number of controlled actuators and is driven by a smaller number of steps than the inchworm mechanism. In this paper, as the preliminary experiment for the cooperation of several seal mechanisms, the moving performance on the slope from 0 to 90 degrees was investigated. Moreover, the relationship between the friction force and the displacement on a vertical plane was investigated experimentally. Under a set of sufficient friction forces, this device was possible to move even on the vertical plane. The load capacity of this device was also investigated. From the results, friction force in this device restricted the load capacity. Finally, its load capacity was compared with an inchworm device. The lower friction force to hold each device restricted its displacement.

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摩擦力对一自由度密封机构的影响

本文研究了摩擦力对小型移动装置1自由度密封机构的影响。该装置具有压电驱动器，施加恒定摩擦力的电磁铁CA和电磁铁CB控制。电磁铁CB处的摩擦由开关控制交替产生。当压电驱动器伸展和收缩时，整个装置随电磁铁CA摆动。单自由度装置可以移动到微米级。活动范围原则上是无限的。密封机构与尺蠖机构结构相同。然而，与尺蠖机构相比，密封机构具有较少数量的受控执行器，并且由较少的步数驱动。作为几种密封机构配合的初步试验，研究了几种密封机构在0 ~ 90度斜坡上的移动性能。此外，还对摩擦力与垂直平面上位移的关系进行了实验研究。在一组足够的摩擦力下，这个装置甚至可以在垂直平面上移动。并对该装置的承载能力进行了研究。从结果来看，该装置的摩擦力限制了其承载能力。最后，将其承载能力与尺蠖装置进行了比较。支撑每个装置的较低摩擦力限制了它的位移。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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MHS2003. Proceedings of 2003 International Symposium on Micromechatronics and Human Science (IEEE Cat. No.03TH8717)

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