Abstract
This paper presents a novel impact rotary motor based on a piezoelectric tube actuator with helical interdigitated electrodes which has a compact structure and high resolution. The assembled prototype motor has a maximum diameter of 15 mm and a length of 65 mm and works under a saw-shaped driving voltage. The LuGre friction model is adopted to analyze the rotary motion process of the motor in the dynamic simulations. From the experimental tests, the first torsional resonant frequency of the piezoelectric tube is 59.289 kHz with a free boundary condition. A series of experiments about the stepping characteristics of different driving voltages, duty cycles, and working frequencies are carried out by a laser Doppler vibrometer based on a fabricated prototype motor. The experimental results show that the prototype rotary motor can produce a maximum torsional angle of about 0.03° using a driving voltage of 480 Vp-p (peak-to-peak driving voltage) with a duty ratio of 0% under a small friction force of about 0.1 N. The motor can produce a maximum average angle of about 2.55 rad/s and a stall torque of 0.4 mN∙m at 8 kHz using a driving voltage of 640 Vp-p with a duty ratio of 0% under a large friction force of about 3.6 N. The prototype can be driven in forward and backward motion and is working in stick-slip mode at low frequencies and slip-slip mode at high frequencies.
Highlights
A piezoelectric motor has the advantages of a simple structure, convenient control, easy miniaturization, a high displacement resolution, a fast response speed, and miniature precision actuation, which has been widely studied by many researchers [1,2]
The motor consists of a piezoelectric tube, a shell, a shows the structure of the impact rotaryamotor
A finite thethe piezoelectric tube actuator is conducted in Comsol finite element method (FEM)
Summary
A piezoelectric motor has the advantages of a simple structure, convenient control, easy miniaturization, a high displacement resolution, a fast response speed, and miniature precision actuation, which has been widely studied by many researchers [1,2]. The ultrasonic motors work under the conditions of resonance and most of them have a high speed, high output force, and miniaturized structure, but their resolution is usually low. The inchworm motors have a large output force and steady step, but their structures are usually complex and their speed of motion is usually low. A novel compact impact rotary motor based on a piezoelectric tube actuator with HIDEs which increase the output capability is developed. The prototype motor with the core of HIDEs on the outside surface with the angle of 45 degree of the piezoelectric tube actuator has been designed, fabricated, tested, and compared with the simulations. The working principle will be different at a higher driving frequency, the stiction in step 1 will not exist, and the shaft is accelerated by sliding friction. The motor will be operated in slip–slip mode [28,29]
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