压电驱动机器人手腕设计.doc

压电驱动机器人手腕设计 摘 要 机器人已经大量应用在工业领域中，特别是在电子工业以及汽车工业上得到广泛应用。现在，机器人的发展进入了一个新的阶段，向着智能化，小型化，微型化方向发展，其中机器人关节的机构尺寸长时期以来都是制约机器人向小型化发展的一个重要因素。 本论文设计了一种压电驱动机器人腕关节结构，利用压电陶瓷的逆压电效应使定子产生超声振动，借助摩擦传递弹性超声振动，使机器人手腕获得驱动力。具有结构小巧、重量轻、低速高转矩、响应快、断电自锁等优点。 论文完成的主要工作包括以下几个方面：综述了机器人的发展趋势、压电驱动器的特点及分类，提出了机器人腕关节驱动的原理方案。应用有限元分析软件ANSYS 对压电驱动振子进行了模态分析及结构设计，确定驱动振子的结构尺寸、工作模态以及为行波型驱动装置。分析了驱动振子几何尺寸及压电陶瓷片对振子模态的影响。设计了机器人手腕结构，实现了手腕俯仰动作。并且，应用进行了手腕结构实体造型，进行了运动仿真模拟。 关键词：机器人；腕关节；压电驱动器；有限元分析 Abstract The robots have been widely applied to the industry, especially in electronic and automotive industry since last century. The developments of robot are in a whole new period with the directions of intelligence, miniaturization and micromation nowadays, the dimensions of robot joint are very important diathesis to restrict its development toward miniaturization in a very long time. This paper designs a piezoelectric driving robot wrist joint which takes use of converse piezoelectric effect?make the stator produce supersonic vibrationand transfer elastic ultrasonic vibration in virtue of use friction, so the wrist joint obtains dynamic. It possesses the following features: compactness in size, tiny weight, high-torque at a low-speed range, fast response, high holding torque when power is off and so on. The main works accomplished in the paper include: Talk about the development of robot, the features and classifications of the piezoelectric driving machine, and then propose the principle scheme of driving robot wrist joint. With the help of ANSYS, modal and structure of the driving stator have been carried out, and it’s a traveling wave driving machine. The influence of size and piezoelectric ceramics?to modal have been analysed. The robot wrist joint is designed which can control and output the rotary angle accurately of the wrist. In addition, make use of Pro/E, 3D solid part models have been carried out for the joint, and also the kinetic simulations for the joints have been finished. Key words：Robot；Wris