The invention provides a planar multi-degree-of-freedom three-legged piezoelectric robot and a driving method.The planar multi-degree-of-freedom three-legged piezoelectric robot comprises a robot base body, a plurality of driving feet are distributed on the lower surface of the robot base body in an annular array mode, the ends, away from the robot base body, of the driving feet make contact with the ground, and each driving foot is provided with a plurality of sets of inertia driving piezoelectric ceramics; each group of inertia driving piezoelectric ceramics is respectively mounted on the side walls of one ends, close to the center of the robot base body and far away from the center of the robot base body, of the driving feet, and the inertia driving piezoelectric ceramics are used for being externally connected with alternating current voltage, so that the inertia driving piezoelectric ceramics generate deformation along the central axis direction of the robot base body. Main components of the whole robot comprise the robot base body, the inertia driving piezoelectric ceramic and the resonance driving piezoelectric ceramic, the structure of the robot is simplified, assembling and repairing of the robot are facilitated, under driving of the applied alternating voltage, inertia stepping motion and resonance motion are achieved, and the motion precision of the robot is improved.

    本发明提供一种平面多自由度三足压电机器人及驱动方法,包括机器人基体,所述机器人基体下表面环形阵列分布有若干驱动足,所述驱动足远离机器人基体的一端与地面相接触,每个所述驱动足上设置有若干组惯性驱动压电陶瓷,每组所述惯性驱动压电陶瓷分别安装在驱动足靠近机器人基体中心和远离机器人基体中心的一端侧壁上,所述惯性驱动压电陶瓷用于外接交流电压,以使得惯性驱动压电陶瓷产生沿着机器人基体中轴线方向的变形。本发明的整个机器人的主要部件包括机器人基体、惯性驱动压电陶瓷和谐振驱动压电陶瓷,简化了机器人的结构,利于机器人的装配和修理,在施加交流电压驱动下,实现惯性步进运动和谐振运动,提高了机器人的运动精度。


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    Title :

    Planar multi-degree-of-freedom three-legged piezoelectric robot and driving method


    Additional title:

    一种平面多自由度三足压电机器人及驱动方法


    Contributors:
    LIANG CHENGCHENG (author) / ZHANG YIHAO (author) / YANG HUAN (author) / CHEN QIPING (author) / YU YINQUAN (author) / ZENG DEQUAN (author) / HU YIMING (author) / AI TIANFU (author)

    Publication date :

    2024-04-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / H02N Elektrische Maschinen, soweit nicht anderweitig vorgesehen , ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR



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