• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2020, Vol. 56 ›› Issue (7): 10-15.doi: 10.3901/JME.2020.07.010

• 机器人及机构学 • 上一篇    下一篇

扫码分享

压电驱动六自由度指向平台的力电耦合分析

刘凡1, 周进雄2, 马小飞1   

  1. 1. 西安空间无线电技术研究所 西安 710100;
    2. 西安交通大学机械结构强度与振动国家重点实验室 西安 710049
  • 收稿日期:2019-05-12 修回日期:2019-10-15 出版日期:2020-04-05 发布日期:2020-05-12
  • 作者简介:刘凡,男,1988年出生,博士。主要研究方向为结构设计与优化。E-mail:kinter616@163.com;
    马小飞(通信作者),男,1980年出生,博士,研究员,博士研究生导师。主要研究方向为大型可展开空间天线结构。E-mail:maxf041600@sina.com
  • 基金资助:
    国家自然科学基金重点资助项目(U1537213)。

Electro-mechanical Coupling Analysis of Piezoelectrically Driven Six-degree-of-freedom Pointing Platform

LIU Fan1, ZHOU Jinxiong2, MA Xiaofei1   

  1. 1. Xi'an Institute of Space Radio Technology, Xi'an 710100;
    2. State Key Laboratory for Strength and Vibration of Mechanical Structures and School of Aerospace, Xi'an Jiaotong University, Xi'an 710049
  • Received:2019-05-12 Revised:2019-10-15 Online:2020-04-05 Published:2020-05-12

摘要: 在高精度微调机构的研究中,面临的是一个包括多个部件、刚性与柔性并存、综合的力学-电学问题,对于机构的高精度微调指向性能以及后续的控制研究中,需要建立并得到整个系统的输入与输出的关系,即压电驱动器的输入电压和微调机构的指向关系。采用压电六自由度并联机构作为平台,基于压电材料的力电耦合理论,在考虑力电耦合效应、位移放大机构的弹性变形的影响下,提出并建立了平台的全系统解析和数值预测方法,其中分别包括了整个平台系统的部件级和系统级的分析理论及数值模拟方法。计算结果表明,所提出的解析和数值方法能够对此类六自由度平台的运动进行预测,通过压电驱动器的输入电压得到最终的平台输出姿态,这对高精度微调机构的设计提供了新的研究手段和重要指导依据。

关键词: 压电, 六自由度平台, 力电耦合, 弹性变形, 解析

Abstract: In the research of high precision pointing mechanism, we are faced with a comprehensive mechanical-electrical problem including multiple components, rigidity and flexibility. For the high precision fine-tuning pointing performance of the mechanism and subsequent control research, it is necessary to establish and obtain the relationship between input and output of the entire system, namely the relationship between the voltage of piezoelectric actuator and the pointing of the mechanism. Based on the electromechanical coupling theory of piezoelectric materials, analytical and numerical prediction methods for the input voltage of piezoelectric actuator and the output attitude are established for a six-degree-of-freedom platform with considering the effects of electromechanical coupling, displacement amplification mechanism and elastic deformation of flexible components. It includes the component-level and system-level analysis theory and numerical simulation methods. The calculation results show that the proposed analytical and numerical methods can predict the motion of six-degree-of-freedom platform and provide important guidance for the platform design.

Key words: piezoelectric, six degree of freedom platform, electro-mechanical coupling, elastic deformation, analysis theory

中图分类号: