摘要
面向防爆巡检场景下高性能足式机器人关节的小体积、高出力需求,设计一种集成压电泵、换向回路与回转缸的一体化压电液压混合驱动器。压电泵振子采用2块叠堆陶瓷级联布置以放大行程,换向回路集成2个微型二位三通阀配合换向以减小体积,回转缸通过液体推动叶片以输出转矩。考虑液压回路的系统阻抗,建立陶瓷振动—泵腔压缩—驱动器输出的三级数学模型,以准确描述驱动器输出性能。样机测试实验结果表明:驱动器在150 V电压下,频率300 Hz时达到最大转速1.614 rad/s,输出转矩则在100 Hz时达到最大为4.06 N·m。
Aiming at the compact volume and high output force requirements of high-performance legged robot joints for patrol in explosion-proof scenarios,a piezoelectric hydraulic hybrid actuator integrating piezoelectric pump,reversing circuit,and rotary cylinder is designed.The pump oscillator adopts a cascaded arrangement of two stacked ceramics to amplify the stroke.The reversing circuit integrates two micro two-position three-way solenoid valves for reversing to reduce volume.The rotary cylinder pushes the blade through the liquid to output torque.Considering system impedance of the hydraulic circuit,a three-level mathematical model of ceramic vibration,pump chamber compressing,and actuator output is established,to accurately describe actuator output performance.The experimental results show that the actuator can reach a maximum speed of 1.614rad/s at a frequency of 300Hz at 150 V,and its output torque can reach a maximum of 4.06 N·m at 100 Hz.
作者
张明路
高强
王经天
李满宏
刘宗厚
ZHANG Minglu;GAO Qiang;WANG Jingtian;LI Manhong;LIU Zonghou(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China)
出处
《传感器与微系统》
北大核心
2025年第9期80-83,共4页
Transducer and Microsystem Technologies
基金
国家重点研发计划项目(2022YFB4701101)
国家自然科学基金资助项目(U24A6005,U1913211,52275016)
中央引导地方科技发展资金资助项目(226Z1801G,226Z1811G)
河北省自然科学基金资助项目(E2025208099)
河北工业大学学科交叉方向研究生培养资助项目(HEBUT-Y-XKJC-2021108)。
关键词
压电驱动器
压电叠堆
集成设计
阻抗分析
系统建模
piezoelectric actuator
piezoelectric stack
integrated design
impedance analysis
system modeling
