标题：
An articulated finger driven by single-mode piezoelectric actuator for compact and high-precision robot hand
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所属单位：
航空学院
发表刊物：
Rev. Sci. Instrum.
摘要：
In this paper, a novel finger driven by single-mode piezoelectric actuator for a compact and high-precision robot hand is proposed. Three piezoelectric actuators are articulated by two sets of connecting elements to form the finger. The finger utilizes a single model of the piezoelectric actuator to generate friction force to drive the joint. Without the difficulty to adjust for the coincidence of modal frequencies, the design of the piezoelectric actuator has fewer restrictions on size and structure; thus, the finger has a compact structure. The bidirectional motion of the joint is achieved by changing the temporal phase difference of two excitation signals applied on the two adjacent piezoelectric actuators. In addition, due to the characteristics of piezoelectric drive, such as power cut self-locking and quick response, the finger has a high resolution to realize micromanipulation for high precise movement. In our design, the first order longitudinal vibration mode of the piezoelectric actuator is used to generate the friction force. By using a finite element model, the geometric parameters of the piezoelectric actuator are obtained. A prototype of the finger is fabricated and experimentally investigated, the size (111 × 10 × 10 mm) is approximately 1.5 times that of a human middle finger, and the weight is 0.11 kg. The experimental results indicate that the angular speed of the prototype reaches 6.6 rad/s, the resolution is 20 mrad, and the startup and shutdown response times are 26 ms and 7 ms under a voltage of 400 Vpp, respectively. The fingertip force is 0.27 N under a voltage of 400 Vpp. The proposed finger has a compact size and simple structure with a high resolution (20 mrad). © 2019 Author(s).
ISSN号：
0034-6748
是否译文：
否
发表时间：
2019-01-01
合写作者：
陈迪,李昕键,阮重远
通讯作者：
金家楣
发表时间：
2019-01-01
学位：工学博士学位
职称：教授
所在单位：航空学院