为了研究惯性冲击机构中的旋转运动,设计了一台可调节预压力的旋转型压电惯性冲击马达。分析了该马达的运动原理及过程,研究了驱动信号、结构参数、压电元件等对马达运动特性的影响及规律。实验结果表明,该马达的转动速度与驱动信号的频率、电压成正比,与主体和配重的比值(M/m)成反比,转动速度随压电元件充放电时间增加而减小。研究还显示,旋转型惯性冲击马达的机械特性和正反转特性不同于电磁马达,该马达的转动速度-转矩特性为一折线,马达的正向转动速度始终大于反向速度。当驱动信号频率为1 100 Hz、电压为50 V、充电时间为70 μs、M/m=8.9时,该马达的转动速度为1.75 °/s,最大转矩为0.13 N·m。结果表明,旋转型惯性冲击马达是一个多变量系统,其运动性能受多种因素的控制。

A rotary piezo motor with adjustable preload function is designed to study the rotational motion of an Impact Drive Mechanism (IDM). The motion principles of this Rotary Impact Drive Mechanism (RIDM) are investigated, the influencing factors of driving signal, structural parameters as well as piezoelectric element on motion characteristics of the mechanism are analyzed. The research results reveal that the rotational velocity of this motor is in proportion to the frequency or the voltage of driving signal, and in inverse proportion to M/m (the ratio of the main body and the weight). The velocity decreases as the charge time increasing of piezo element. Furthermore, the results also show that the torque-speed property and forward-backward rotation of rotary motor are both different from that of traditional motor. The torque-speed curve of the rotary motor is a fold line,and the forward rotational velocity is larger than the backward rotation velocity all the time. When the frequency,voltage and the charge time are 1100 Hz,50 V and 70 μs,respectively, and M/m is equal to 8.9, rotational velocity is about 1.75°/s and the maximum torque is 0.13 N·m.These results reported here show that the rotary impact drive mechanism is a multivariable system, whose performance is decided by many factors.