由压电换能器驱动的履带式移动系统

2015 Symposium on Piezoelectricity, Acoustic Waves, and Device Applications (SPAWDA) Pub Date : 2015-10-01 DOI:10.1109/SPAWDA.2015.7364448

Liang Wang, C. Shu, Jiamei Jin, Jian-hui Zhang

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引用次数: 1

摘要

提出了一种具有行星探测潜力的新型压电履带式行走系统。履带式行走系统包括压电换能器和金属履带。当压电换能器被两个相位差为π/2的电信号激励时，金属轨迹将受到摩擦力的驱动。首先，详细介绍了履带行走系统的设计和工作原理。其次，对压电换能器的工作模式进行了有限元分析，并与振动测量结果进行了比较。再次，对样机进行了制作和组装，并对系统进行了运动特性实验，验证了系统的可行性。当电压为460V，频率为65.2 kHz时，系统的最大速度可达51.5mm/s。结果表明，履带式行走系统在行星探测漫游机器人中具有潜在的应用前景。

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A tracked travelling system under the actuation of a piezoelectric transducer

A novel type piezoelectric tracked travelling system with potential application to planetary exploration is proposed. The tracked travelling system includes a piezoelectric transducer and a metal track. When the piezoelectric transducer is excited by two electric signals with a phase difference of π/2, the metal track will be driven by friction forces. Firstly, the design and operating principle of the tracked travelling system are presented in detail. Secondly, the operating modes of the piezoelectric transducer are analyzed by FEM and compared with the vibration measurement results. Thirdly, the prototype is manufactured and assembled, and the motion characteristics experiments of the system are carried out to valid the feasibility. When the voltage is 460V and the frequency is 65.2 kHz, the maximum velocity of the system can reach to 51.5mm/s. The results show that the tracked travelling system has a potential application in rover robots for planetary exploration.

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来源期刊

2015 Symposium on Piezoelectricity, Acoustic Waves, and Device Applications (SPAWDA)

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