Abstract
Multi-DOF movement actuators are widely used in industry, mainly in the fields of bionics and precision machining. With the non-stop improvement of modern-day industry, the requirements for the precision, integration and flexibility of multi-degree-of-freedom motion actuators in the industrial field have progressively increased. This paper presents a novel electromagnetic–piezoelectric hybrid driven three-degree-of-freedom motor. The driving method of the hybrid drive motor can be divided into electromagnetic driving and piezoelectric driving. The motor structure and working principle are analyzed. The structural parameters are obtained by modal analysis of the stators and rotor. The rationality of the stator structure is proved by using the transient analysis of the piezoelectric stators. The magnetic field characteristics of the motor are analyzed by both analytical method and the finite element method. The contact pressure and displacement between the piezoelectric stator and the rotor are analyzed by the analytical method. A motor drive model is established, which provides the basis for motor optimization design and control. Finally, a motor prototype and its test platform were built, and the experimental results are presented to verify the rationality of the motor design.
Highlights
A multi-degree-of-freedom (DOF) motor is a device whose rotor can achieve two degrees of freedom or more degrees of freedom of motion
Multi-DOF motors are widely used in bionic fields and multi-degree-of-freedom motion fields
The piezoelectric multi-DOF motor motors have the advantages of compact structure, flexible design, easy realization of miniaturization, self-locking, fast response speed, and no external electromagnetic interference [14], so it is suitable for low-speed and high-torque applications
Summary
A multi-degree-of-freedom (DOF) motor is a device whose rotor can achieve two degrees of freedom or more degrees of freedom of motion. Mashimo et al proposed a spherical ultrasonic motor consisting of three annular stators and a spherical rotor This design enables three-DOF motion, and simplifies the structure of multi-DOF motors [8]. The piezoelectric multi-DOF motor motors have the advantages of compact structure, flexible design, easy realization of miniaturization, self-locking, fast response speed, and no external electromagnetic interference [14], so it is suitable for low-speed and high-torque applications It has a short operation life, and it is not suitable for continuous operation. Electromagnetic hybrid-driven multi-DOF motors have problems, such as their difficulty to control the magnetic field, low positioning accuracy and difficulty to transmit high torque through output shaft [21,22], and the multi-DOF motor with piezoelectric hybrid driven has the problems of low operating life and unstable performance [23]. The design rationality of the motor is proven by the experimental results on the prototype
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