| The inchworm actuator,which is developed and updated by the inchworm motion principle of reptile,has the advantages of simple principle,no electromagnetic interference,two-way large travel,high precision linear motion,etc.However,the problems of low speed,overstaffed structure and high precision of machining and assemble have not been solved.To solve the problem of Inchworm actuator,I designed a new inchworm driver based on elliptic displacement amplification.This paper mainly includes the following contents:The structure of inchworm actuator is designed,and the design parameters of each part are determined.Inchworm actuator consists of shell,internal flexible structure and guide rail.The two flexible structures are symmetrical about the guide rail,and one flexible structure is composed of clamping-drive-clamping.The driving mechanism adopts an elliptical flexible amplification structure composed of eight single incision flexible hinges,which can realize 5 times driving displacement amplification;The clamping mechanism not only ensures the clamping friction,but also increases the effective displacement of the clamping block,which reduces the requirements of machining accuracy and assembly accuracy,and objectively reduces the error of the actuator;The shell adopts two symmetrical designs with pretightening screws,which makes the driver easy to install and adjustable.The influence of the ratio(t/r)between the thickness of the wall and the radius of the inner circle of the single incision flexible hinge on the performance of the hinge is analyzed,and the ratio(t/r)matching the displacement magnification in this paper is determined.The finite element simulation verifies the feasibility of displacement amplification of the driving mechanism,and obtains a series of simulation results which have good linear relationship.Pressure is applied to clamping block of clamped displacement transducer(Ct)to simulate the interference of rail preload.Through simulation analysis,it is concluded that the displacement is less than the movement displacement of clamping block operation.It is concluded that the clamping mechanism can clamp and separate the rail according to preset,and the maximum preload of rail and clamp block can exceed 50 N.The control system of the driver is designed,the driving power is selected,and the experimental scheme for testing the clamping error,clamping friction,step resolution and moving speed of the driver is designed. |
