Research On Frictionaland Connectable Type Electromechanical Integrated Piezoelectric Harmonic Drive

The frictional type piezoelectric harmonic drive system is drived by the converse piezoelectric effect of piezoelectric ceramic,using movable teeth transmissions outputs power.It has the advantages of fast response,low speed,large torque and no electromagnetic interference,etc.The frictional type piezoelectric harmonic drive system has wide application prospects in the fields of aerospace,biomedicine,precision positioning and micro robots.This paper introduces the working principle of the frictional type piezoelectric harmonic drive system,confirming the structure of the transmission system and basic parameters of the key parts.Three dimensional solid model of the drive system is established by utilizing SolidWorks and the prototype is manufactured.The frictional type piezoelectric harmonic drive systemis analyzed by FEM.The statics,modal vibration and harmonic response analysis of drive system are analyzed by the software ANSYS Workbench.Stress distribution under the static load,natural frequency,mode shapes,dynamic stress and displacement responses are presented.The forces on the wave producer,the movable tooth rack and the central wheel as the function of the movable tooth rack under different sizes and parameters are determined.Using VB programming language and SolidWokrs as tool,the secondary development is carried out.A simple,convenient and practical design interface is achieved.The parametric modeling of frictional type piezoelectric harmonic drive system is achived.Finally,the processing and assembling of the frictional type piezoelectric harmonic drive systemis completed.The validity of FEM results is verified with the natural frequency measurement test.