實驗名稱：爬行機器人實驗(yan)與分析(xi)

　　測試目的：實驗(yan)(yan)包括壓(ya)(ya)電(dian)驅(qu)(qu)動(dong)(dong)(dong)(dong)器(qi)性(xing)能測試和爬行(xing)機(ji)器(qi)人單元(yuan)節運動(dong)(dong)(dong)(dong)測試。其(qi)中壓(ya)(ya)電(dian)驅(qu)(qu)動(dong)(dong)(dong)(dong)器(qi)性(xing)能測試主要通過(guo)激(ji)光位移傳(chuan)感(gan)器(qi)采集(ji)壓(ya)(ya)電(dian)驅(qu)(qu)動(dong)(dong)(dong)(dong)器(qi)在工(gong)作(zuo)電(dian)壓(ya)(ya)下(xia)的(de)輸出特性(xing)相關(guan)數據，一(yi)方(fang)面(mian)與理論分析進行(xing)對比，另(ling)一(yi)方(fang)面(mian)則是(shi)驗(yan)(yan)證復合材(cai)料加工(gong)工(gong)藝在壓(ya)(ya)電(dian)驅(qu)(qu)動(dong)(dong)(dong)(dong)器(qi)上(shang)的(de)可行(xing)性(xing)。爬行(xing)機(ji)器(qi)人單元(yuan)節運動(dong)(dong)(dong)(dong)測試主要是(shi)測試在壓(ya)(ya)電(dian)驅(qu)(qu)動(dong)(dong)(dong)(dong)器(qi)在正(zheng)(zheng)常(chang)工(gong)作(zuo)條件下(xia)能否(fou)驅(qu)(qu)動(dong)(dong)(dong)(dong)腿部連桿作(zuo)出正(zheng)(zheng)確的(de)運動(dong)(dong)(dong)(dong)，以(yi)及(ji)測量壓(ya)(ya)電(dian)驅(qu)(qu)動(dong)(dong)(dong)(dong)器(qi)在負(fu)載情(qing)況下(xia)的(de)位移響應(ying)。

　　測試設備：高壓放大器、低(di)通濾波器(qi)、壓電驅動器(qi)、位移傳感器(qi)、減(jian)法放大器(qi)等。

　　實驗過程：

　　圖(tu)一：測試平臺示(shi)意圖(tu)

　　整個(ge)(ge)系(xi)統測(ce)量精度的(de)基礎在于所(suo)有(you)實(shi)驗設備都處于一個(ge)(ge)氣墊隔振平臺上。對(dui)壓電(dian)驅(qu)動器的(de)測(ce)試基于一個(ge)(ge)特(te)制的(de)驅(qu)動電(dian)源，采用模(mo)擬(ni)控制的(de)方式，利用電(dian)源對(dui)實(shi)驗中所(suo)施加(jia)的(de)模(mo)擬(ni)信號(hao)放大到(dao)完全滿足壓電(dian)驅(qu)動器的(de)額定(ding)工作(zuo)電(dian)壓。測(ce)定(ding)儀器通過激(ji)光位移傳(chuan)感器來收集運行狀態(tai)下壓電(dian)驅(qu)動器末端的(de)位移變化，并將數據(ju)交還給電(dian)腦處理。

　　實驗過(guo)程中，驅動(dong)器共接收兩路信(xin)號(hao)(hao)輸入，一(yi)路為高壓(ya)直流，一(yi)路為交流控(kong)制信(xin)號(hao)(hao)。利用三通道壓(ya)電(dian)陶瓷的驅動(dong)電(dian)源模擬控(kong)制放大(da)電(dian)壓(ya)，位(wei)(wei)移傳(chuan)感(gan)器收集(ji)相關(guan)數據傳(chuan)遞到(dao)采集(ji)卡，就能(neng)通過(guo)上位(wei)(wei)機來實時地顯示(shi)壓(ya)電(dian)驅動(dong)器末端輸出位(wei)(wei)移與電(dian)壓(ya)信(xin)號(hao)(hao)的關(guan)系曲線(xian)圖。

　　對壓(ya)(ya)電驅(qu)(qu)(qu)動(dong)(dong)器(qi)末端位(wei)移(yi)(yi)的測(ce)(ce)試實驗(yan)(yan)主(zhu)要用(yong)到了激光(guang)位(wei)移(yi)(yi)傳(chuan)感器(qi)，實驗(yan)(yan)時只取驅(qu)(qu)(qu)動(dong)(dong)器(qi)單側進(jin)(jin)行(xing)輸出(chu)特(te)性測(ce)(ce)試。為(wei)了保(bao)證得到的實驗(yan)(yan)結(jie)果的精確性，本實驗(yan)(yan)于一(yi)(yi)個氣墊隔振平臺(tai)上(shang)進(jin)(jin)行(xing)。使用(yong)一(yi)(yi)個帶(dai)有夾(jia)具的移(yi)(yi)動(dong)(dong)平臺(tai)作(zuo)為(wei)壓(ya)(ya)電驅(qu)(qu)(qu)動(dong)(dong)器(qi)的固定基座，將壓(ya)(ya)電驅(qu)(qu)(qu)動(dong)(dong)器(qi)的中(zhong)部夾(jia)緊并保(bao)持水平，將移(yi)(yi)動(dong)(dong)平臺(tai)移(yi)(yi)到激光(guang)位(wei)移(yi)(yi)傳(chuan)感器(qi)下后進(jin)(jin)行(xing)對準(zhun)后，通過(guo)移(yi)(yi)動(dong)(dong)平臺(tai)上(shang)自帶(dai)的磁鐵，使移(yi)(yi)動(dong)(dong)平臺(tai)固定在隔振平臺(tai)上(shang)，準(zhun)備進(jin)(jin)行(xing)壓(ya)(ya)電驅(qu)(qu)(qu)動(dong)(dong)器(qi)的輸出(chu)特(te)性測(ce)(ce)試，整(zheng)個實驗(yan)(yan)的示意圖如圖一(yi)(yi)所示。

　　實驗結果：

　　圖二：壓電驅(qu)動器(qi)位移響應曲線

　　實(shi)(shi)驗中選取了10個(ge)壓電驅(qu)動(dong)(dong)器(qi)，分(fen)別(bie)對其兩側(ce)進行(xing)了同樣的(de)(de)位(wei)移(yi)(yi)性(xing)能測試(shi)，得(de)(de)到(dao)了相(xiang)應的(de)(de)驅(qu)動(dong)(dong)電壓-位(wei)移(yi)(yi)曲(qu)(qu)線(xian)圖(tu)。圖(tu)4-8所示的(de)(de)是(shi)某一(yi)次實(shi)(shi)驗中得(de)(de)到(dao)的(de)(de)驅(qu)動(dong)(dong)電壓-位(wei)移(yi)(yi)曲(qu)(qu)線(xian)圖(tu)，其中圖(tu)二(er)(a)是(shi)一(yi)次實(shi)(shi)驗整個(ge)過程的(de)(de)數(shu)據曲(qu)(qu)線(xian)，圖(tu)二(er)(b)則是(shi)從(cong)中截取了幾(ji)個(ge)周期的(de)(de)數(shu)據后的(de)(de)位(wei)移(yi)(yi)響應曲(qu)(qu)線(xian)。對實(shi)(shi)際數(shu)據進行(xing)分(fen)析，得(de)(de)到(dao)該壓電驅(qu)動(dong)(dong)器(qi)的(de)(de)末(mo)端位(wei)移(yi)(yi)最大(da)值(zhi)為1021μm。

　　圖(tu)三：壓電驅動(dong)器(qi)的最大位移

　　圖三所示分別是20次實(shi)驗中(zhong)(zhong)驅(qu)(qu)(qu)動(dong)器(qi)(qi)(qi)的(de)(de)(de)(de)最(zui)大末端位(wei)(wei)移(yi)(yi)值。20組實(shi)驗中(zhong)(zhong)，80%以上(shang)的(de)(de)(de)(de)壓(ya)電(dian)(dian)驅(qu)(qu)(qu)動(dong)器(qi)(qi)(qi)的(de)(de)(de)(de)最(zui)大末端位(wei)(wei)移(yi)(yi)都在(zai)850μm以上(shang)，而編號為6、8和16的(de)(de)(de)(de)驅(qu)(qu)(qu)動(dong)器(qi)(qi)(qi)的(de)(de)(de)(de)最(zui)大末端位(wei)(wei)移(yi)(yi)較小，尤其是16號驅(qu)(qu)(qu)動(dong)器(qi)(qi)(qi)，最(zui)大末端位(wei)(wei)移(yi)(yi)趨近于0，說明該壓(ya)電(dian)(dian)驅(qu)(qu)(qu)動(dong)器(qi)(qi)(qi)已經失效。造(zao)成壓(ya)電(dian)(dian)驅(qu)(qu)(qu)動(dong)器(qi)(qi)(qi)失效的(de)(de)(de)(de)原因可能(neng)(neng)(neng)有如下(xia)幾點：1、在(zai)加(jia)工(gong)工(gong)藝中(zhong)(zhong)出(chu)現(xian)的(de)(de)(de)(de)誤差導致驅(qu)(qu)(qu)動(dong)器(qi)(qi)(qi)的(de)(de)(de)(de)性能(neng)(neng)(neng)受損(sun)；2、由(you)于壓(ya)電(dian)(dian)陶(tao)瓷屬于比較易(yi)碎(sui)(sui)的(de)(de)(de)(de)材料(liao)，在(zai)測試階段中(zhong)(zhong)的(de)(de)(de)(de)誤操作(zuo)可能(neng)(neng)(neng)導致壓(ya)電(dian)(dian)陶(tao)瓷出(chu)現(xian)微小碎(sui)(sui)裂，對驅(qu)(qu)(qu)動(dong)器(qi)(qi)(qi)的(de)(de)(de)(de)性能(neng)(neng)(neng)造(zao)成不可逆的(de)(de)(de)(de)影(ying)響。壓(ya)電(dian)(dian)驅(qu)(qu)(qu)動(dong)器(qi)(qi)(qi)多層材料(liao)加(jia)工(gong)工(gong)藝是較為成功的(de)(de)(de)(de)，制造(zao)出(chu)了一批性能(neng)(neng)(neng)優(you)秀的(de)(de)(de)(de)壓(ya)電(dian)(dian)驅(qu)(qu)(qu)動(dong)器(qi)(qi)(qi)，良品率(lv)在(zai)80%以上(shang)。驅(qu)(qu)(qu)動(dong)器(qi)(qi)(qi)在(zai)空載時的(de)(de)(de)(de)最(zui)大末端位(wei)(wei)移(yi)(yi)達到1000μm左(zuo)右，理論上(shang)能(neng)(neng)(neng)滿足爬行機器(qi)(qi)(qi)人(ren)運動(dong)的(de)(de)(de)(de)需(xu)求。

　　高壓放大器推薦：ATA-7030

　　圖：ATA-7030高壓放大器指標參數

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