實驗名稱：快(kuai)速旋轉軟體驅(qu)動器研究(jiu)

　　實驗(yan)目的(de)：提出一種(zhong)基(ji)于(yu)壓電振動驅(qu)動的(de)新型可旋(xuan)轉軟體驅(qu)動器，通過(guo)理(li)論和有限元模擬分析(xi)了(le)該驅(qu)動器在激勵(li)(li)力(li)作用下(xia)的(de)受(shou)力(li)及(ji)運動機理(li)，研究了(le)施加(jia)激勵(li)(li)力(li)的(de)幅值與角頻率對驅(qu)動旋(xuan)轉性能的(de)影響，并通過(guo)實驗(yan)驗(yan)證了(le)有限元仿真結果。

　　測試設備：ATA-2042高壓放大(da)器、信號(hao)發(fa)生器、數(shu)碼攝像機、二(er)維(wei)升(sheng)降臺等。

　　軟(ruan)體(ti)驅(qu)(qu)動(dong)器是(shi)一種柔軟(ruan)、可實(shi)現大變形(xing)的(de)(de)驅(qu)(qu)動(dong)系(xi)統，區別于(yu)一般由(you)電機、軸承、齒(chi)輪(lun)、鉸鏈等剛性(xing)構(gou)件組成(cheng)的(de)(de)傳統剛性(xing)驅(qu)(qu)動(dong)器.軟(ruan)體(ti)驅(qu)(qu)動(dong)器通(tong)常由(you)軟(ruan)材料制作而成(cheng),理論(lun)上具(ju)有(you)無限自由(you)度、承受大變形(xing)、連續變形(xing)、柔順接(jie)觸等優點。因此，軟(ruan)體(ti)驅(qu)(qu)動(dong)器在(zai)易碎物體(ti)的(de)(de)抓取及搬運、復雜非結(jie)構(gou)化環(huan)境下運動(dong)等方面具(ju)有(you)明(ming)顯的(de)(de)優勢。

　　從無肢動(dong)(dong)物獲得靈(ling)感，提出一種基于壓電振動(dong)(dong)驅(qu)動(dong)(dong)的(de)新(xin)型可旋(xuan)轉(zhuan)軟體(ti)驅(qu)動(dong)(dong)器(qi)，通(tong)過理論(lun)和有(you)(you)限(xian)元模擬(ni)分析了(le)(le)該驅(qu)動(dong)(dong)器(qi)在激勵力(li)作(zuo)用(yong)下的(de)受(shou)力(li)及(ji)運動(dong)(dong)機(ji)理，研(yan)究了(le)(le)施加激勵力(li)的(de)幅(fu)值(zhi)與角頻率對驅(qu)動(dong)(dong)旋(xuan)轉(zhuan)性能的(de)影(ying)響，并通(tong)過實驗(yan)(yan)驗(yan)(yan)證了(le)(le)有(you)(you)限(xian)元仿(fang)真結果。

　　實驗(yan)中先搭建轉軟體驅(qu)動(dong)(dong)器(qi)，采用振(zhen)(zhen)動(dong)(dong)源(yuan)及軟體剛毛(mao)結構組(zu)成，合理(li)的振(zhen)(zhen)動(dong)(dong)源(yuan)可(ke)以為該驅(qu)動(dong)(dong)器(qi)提(ti)供(gong)適宜的激勵力。實驗(yan)需要一種可(ke)以產生高頻振(zhen)(zhen)動(dong)(dong)的振(zhen)(zhen)動(dong)(dong)源(yuan)，且需具有一定的驅(qu)動(dong)(dong)力。

　　振動(dong)(dong)(dong)驅動(dong)(dong)(dong)的(de)剛(gang)毛(mao)機(ji)(ji)器(qi)人(ren)通(tong)過壓電雙晶片產生(sheng)(sheng)的(de)振動(dong)(dong)(dong)驅動(dong)(dong)(dong)剛(gang)毛(mao)上下(xia)運動(dong)(dong)(dong),由于剛(gang)毛(mao)傾斜排列(lie)，上下(xia)振動(dong)(dong)(dong)過程中(zhong)會(hui)與地(di)面產生(sheng)(sheng)非對(dui)稱摩擦力(向前摩擦力大于向后摩擦力)，驅動(dong)(dong)(dong)機(ji)(ji)器(qi)人(ren)朝一個(ge)方向推進。本(ben)文(wen)中(zhong)將陣列(lie)傾斜剛(gang)毛(mao)沿(yan)圓周方向布置，當旋(xuan)轉(zhuan)(zhuan)軟體結(jie)構的(de)圓端(duan)面受到均勻分布的(de)周期(qi)性激勵力時，該(gai)結(jie)構會(hui)沿(yan)著剛(gang)毛(mao)傾斜方向產生(sheng)(sheng)摩擦力,從而可以提(ti)供(gong)旋(xuan)轉(zhuan)(zhuan)的(de)驅動(dong)(dong)(dong)力。

　　搭(da)建旋(xuan)轉(zhuan)(zhuan)軟體(ti)驅動(dong)(dong)(dong)器(qi)實驗平臺，電壓放大(da)器(qi)先將(jiang)信號發生(sheng)器(qi)發出的(de)(de)激(ji)勵信號進行放大(da)，然(ran)后將(jiang)激(ji)勵信號施加在驅動(dong)(dong)(dong)器(qi)上(shang)。為(wei)了測(ce)量驅動(dong)(dong)(dong)器(qi)的(de)(de)旋(xuan)轉(zhuan)(zhuan)角(jiao)度，在驅動(dong)(dong)(dong)器(qi)上(shang)標(biao)明箭頭，并將(jiang)其置(zhi)于坐標(biao)紙(zhi)上(shang)，該坐標(biao)紙(zhi)的(de)(de)每小格夾角(jiao)為(wei)15°。使用數碼相機(ji)同步拍攝(she)驅動(dong)(dong)(dong)器(qi)的(de)(de)運動(dong)(dong)(dong)過程，然(ran)后根據驅動(dong)(dong)(dong)器(qi)轉(zhuan)(zhuan)過一(yi)周所(suo)需(xu)時間計(ji)算驅動(dong)(dong)(dong)器(qi)的(de)(de)旋(xuan)轉(zhuan)(zhuan)速度。

　　通過(guo)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)建模和數值模擬對(dui)旋(xuan)轉(zhuan)(zhuan)(zhuan)軟(ruan)體(ti)(ti)驅(qu)動(dong)(dong)(dong)(dong)(dong)器(qi)進(jin)行(xing)了運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)機理分析(xi)，并通過(guo)實(shi)驗對(dui)其旋(xuan)轉(zhuan)(zhuan)(zhuan)性(xing)能(neng)進(jin)行(xing)了研究，該驅(qu)動(dong)(dong)(dong)(dong)(dong)器(qi)通過(guo)壓電雙晶片(pian)產(chan)生振動(dong)(dong)(dong)(dong)(dong)驅(qu)動(dong)(dong)(dong)(dong)(dong)旋(xuan)轉(zhuan)(zhuan)(zhuan)軟(ruan)體(ti)(ti)結構的剛(gang)毛周期性(xing)下彎(wan)和上彈運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)，在(zai)剛(gang)毛向(xiang)下彎(wan)曲(qu)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)過(guo)程(cheng)中產(chan)生的靜摩擦力大(da)于剛(gang)毛向(xiang)上彈起(qi)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)過(guo)程(cheng)中產(chan)生的滑動(dong)(dong)(dong)(dong)(dong)摩擦力，從(cong)而產(chan)生了凈驅(qu)動(dong)(dong)(dong)(dong)(dong)力，進(jin)一步(bu)在(zai)高頻激勵(li)力作用下實(shi)現快速旋(xuan)轉(zhuan)(zhuan)(zhuan)。當旋(xuan)轉(zhuan)(zhuan)(zhuan)軟(ruan)體(ti)(ti)驅(qu)動(dong)(dong)(dong)(dong)(dong)器(qi)施加電壓VP-P為(wei)400V、頻率(lv)為(wei)1400Hz時，其旋(xuan)轉(zhuan)(zhuan)(zhuan)速度可達到118.3r/min，此類(lei)旋(xuan)轉(zhuan)(zhuan)(zhuan)軟(ruan)體(ti)(ti)驅(qu)動(dong)(dong)(dong)(dong)(dong)器(qi)有望在(zai)高性(xing)能(neng)移動(dong)(dong)(dong)(dong)(dong)機器(qi)人、機械手及人工(gong)關節(jie)等設計開發中有所應用。

　　電壓放大器(qi)推薦：ATA-2042

　　圖：ATA-2042高壓放大器指標參數

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