| Recently,the demand of industry for multi-degree-of-freedom motors which can directly realize the spatial and multi-dimensional complex motion is increasing.Traditional single-degree-of-freedom motors need the cooperation of multiple motors to achieve multi-degree-of-freedom motion,which is characterized by low integration,high cost and large space consumption.Therefore,the structure design and driving method of multi-degree-of-freedom motors provide new research directions for domestic and foreign scholars.Multi-degree-of-freedom motors driven by piezoelectric or electromagnetic are common.They are free from electromagnetic pollution and can operate normally at high or low temperatures.They are small in size but can output large torque.Electromagnetic motor has simple drive and high overall output efficiency when it is in multi-freedom motion.However,in the actual operation,the piezoelectric motor,driven by friction,can not work continuously for a long time in high intensity situations,which will reduce the overall stability of the motor and affect the life of the motor.However,because of its large size and inaccurate positioning accuracy,the precise working requirements cannot be met,and it is more susceptible to the interference of the magnetic field,which leads to the irreversible demagnetization of the magnet,which makes the motor unable to continue to work normally.These drawbacks will limit the working environment of the two motors.To solve this problem,a hybrid multi-degree-of-freedom motor is proposed,which can improve the speed and torque of the motor,improve the reliability and stability of the motor,and achieve complementary advantages.Through coordinated cooperation,the motor can run continuously without wear and tear,increase the life of the motor,and improve the response speed.In this paper,a multi-degree-of-freedom motor driven by electromagnetic-piezoe lectric hybrid is designed by combining the two drive modes.The performance of the motor is studied and analyzed.The main research contents are as follows:(1)Introducing the whole structure of the multi-degree-of-freedom motor driven by electromagnetic-piezoelectric hybrid,explaining the working principle of each drive part of the motor,and deriving the total torque generated by the motor after mixing the two drive modes.The piezoelectric stator in the piezoelectric drive structure is modeled and simulated,the model is drawn by Solidworks software,the mode analysis is carried out by importing Workbench software,the working modes are selected,and the easy mode overlap phenomenon is studied.(2)The influence of pre-pressure on the performance of the built-in piezoelectric drive motor is analyzed.The influence of pre-pressure on the contact area and mode frequency of the stator and the rotator is mainly analyzed.The mathematical model of the stator-rotator contact is established,and the velocity of particles at different contact locations is analyzed.Using ANSYS software,the deformation caused by the contact between the stator and the rotor is analyzed,and the impedance of the piezoelectric stator under different pressures is tested and analyzed.(3)To study the influence of external electromagnetic stator structure parameters on the performance of the motor,including the selection of stator slot shape.The influence of the specific dimensions of stator tooth width,yoke thickness,slot number and slot depth on the stator mode of the motor;The slot torque generated by the motor with different slots.The magnetic field of the permanent magnet is analyzed,and the influence of different magnetization modes and thickness of the permanent magnet on the air gap magnetic density,eddy current loss and noise performance of the motor is studied.(4)Set up an experimental platform to introduce the experimental equipment,test the output performance of the motor,and determine the optimal range of pressures. |
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