Sandwich single-phase-driven piezoelectric actuators have attracted increasing interest owing to their simple control circuits, flexible designs, and high output forces. However, there are challenges in constructing a standing-wave driving mode for sandwich single-phase-driven rotary piezoelectric actuators and in achieving bidirectional driving as well as an integrated structural and functional design, which limit their applications. To address these issues and meet the demands of the joint drive, a novel sandwich single-phase-driven rotary piezoelectric actuator is proposed in this study. The actuator stator has a beam-ring configuration, with dual rotors effectively integrated with a preload adjustment mechanism to solve the contact-warping problem of the cantilever joint and achieve an integrated structural and functional design of the joint drive. The standing-wave rotation drive and steering functions are realized through the special design of modes and unique arrangement of the upper and lower driving teeth. To reveal the dynamic characteristics of the stator, a universal electromechanical coupling dynamic model for the torsional-bending composite vibration of sandwich piezoelectric actuators was developed for the first time using the transfer matrix method, and the correctness of the dynamic model was verified using a prototype of the proposed stator. Finally, the structural design feasibility of the proposed piezoelectric actuator was verified through performance evaluation experiments on the actuator prototype. The proposed sandwich single-phase-driven rotary piezoelectric actuator lays the technical and theoretical foundations for achieving simple, fast, efficient, and precise driving and control of robotic joints.

中文翻译：

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新型单相驱动压电致动器的设计与建模


三明治单相驱动压电致动器因其简单的控制电路、灵活的设计和高输出力而受到越来越多的关注。然而，在构建三明治单相驱动旋转压电致动器的驻波驱动模式、实现双向驱动以及一体化结构和功能设计方面存在挑战，这限制了其应用。为了解决这些问题并满足联合驱动的需求，该文提出了一种新型的三明治单相驱动旋转压电促动器。致动器定子采用梁环配置，双转子与预紧调节机构有效集成，解决了悬臂接头的接触翘曲问题，实现了接头传动的一体化结构和功能设计。驻波旋转驱动和转向功能是通过模式的特殊设计和上下驱动齿的独特布置实现的。为了揭示定子的动力学特性，首次采用传递矩阵法开发了三明治压电致动器扭转弯曲复合振动的通用机电耦合动力学模型，并使用所提出的定子原型验证了动力学模型的正确性。最后，通过在致动器原型上进行性能评估实验，验证了所提出的压电致动器的结构设计可行性。所提出的三明治单相驱动旋转压电致动器为实现简单、快速、高效、精确的机器人关节驱动和控制奠定了技术和理论基础。