剪力式壓電驅動多軸球型致動器之設計開發與性能分析

Design and Development of Piezoelectric Shear-driving Multi-DOF Ball-type Actuator and Performance Analysis

吳俊男(Chun-Nan Wu)

指導教授 ： 黃光裕

國立臺灣大學/工學院/機械工程學研究所/碩士(2006年)

https://doi.org/10.6342/NTU.2006.00726

摘要

本論文設計開發一種新形態的多軸球型致動器，其可以達到多軸向轉動與精密轉角控制的功能。三個壓電致動元件利用摩擦力驅動鋼球，每一個致動元件主要是由一片耐磨陶瓷接觸片與兩片極化方向互呈水平垂直放置的d15剪力壓電平板所組成，分別放置在角型底座的三個面上，利用永久磁石與鋼球之間的磁吸力，使致動元件與球型運動子保持穩定的接觸狀態。非對稱鋸齒波訊號驅動壓電元件使球型運動子產生慣性致動。在致動過程中以機器視覺量測法同步監測附著於球型運動子上的反光標記位置，藉由量測結果計算出球型運動子的角速度與角位移。

關鍵字

球型致動器 ； 多軸向轉動 ； 壓電元件 ； 剪應變 ； 摩擦 ； 慣性作動原理 ； 合成致動

並列摘要

The paper presents a novel design of a Multi-DOF ball-type Actuator (MDBA), which is developed for achieving multi-axial rotation and precision rotating angle control. Three piezoelectric actuating units are applied to drive frictionally a ferromagnetic steel ball, and each actuating unit is composed of a wear-resistant ceramic contact plate and two d15-type piezoelectric shear plates, whose polarized directions are perpendicular to each other. The three actuating units are installed on three corner surfaces of a steel base respectively. To produce sufficient contact force between the actuating unit and the ball, the permanent magnet is used to supply the magnetic preload on the ball. The piezoelectric shear plate is driven by the unsymmetrical saw-toothed signal to realize inertial actuation. The actuating process is monitored by detecting visually the position of a reflective mark attached on the actuated ball, and from the captured images the speed and the angular displacement of the ball can be derived. Diverse control combinations of the actuating units can be applied to vary the rotating direction of the ball. Furthermore, the number of driving pulses and the driving frequency are the main operational parameters for precise controlling the rotational angle and the speed.

並列關鍵字

Ball-type actuator ； Multi-axial rotation ； Piezoelectric element ； Shear strain ； Friction ； Inertial driving principle ； Synthetic actuation

參考文獻

[9] 周欣怡 ， “整合原子力顯微鏡式和光學式微小形變量測系統之設計開發與性能測試分析”，國立台灣大學機械工程學研究所碩士論文，2006。

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