Abstract
Based by controlling the orderly changes of friction force between the PZT rotary actuator and supporting faces in mechanical way, a novel kind of inertial piezoelectric rotary actuator is proposed. the dynamic simulation model of the actuator based on karnopp friction model is established, by using matlab software, Four ordered Runge-Kutta calculation method is used to carry out kinematics simulation of the actuator, the curve of driving signal frequency、voltage and dynamic characteristics is conducted, the prototype of rotary actuator is designed and manufactured, the performance of the actuator is tested，The experimental results show that the developed actuator is characterized by large travel (360º) , good resolution (15µrad) , high speed (0.26rad/s) , and work stability. The motion theory and dynamic formulation of the actuator are proved through comparing the results of simulation and experiment.
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