| The swarm robot technology requires that the micro robot has a simple and compact structure,convenient control and low cost.However the existing hydraulic and pneumatic driving methods are complicated in structure and difficult to be miniaturized.And the efficiency of the electromagnetic motor is greatly reduced during miniaturization,making the working ability lower.Coaxial Coaxial Propeller has advantage of self-balancing of torque and have become popular in recent swarm robot research.Since only a single-phase signal is required to operate,the mode conversion type piezoelectric actuator has simple control characteristics.This paper proposed two kinds of coaxial propeller actuators based on the principle of mode conversion,and explores a new driving method for underwater vehicles.A mass eccentric mode conversion piezoelectric actuator with dual rotors is proposed.The experiments have shown that the bonded type prototype has a higher power to weight ratio than the sandwich.When the driving voltage is 200 Vpp,the two rotors of bonded type rotate at 3278 rpm and 3162 rpm respectively,and the stall torques are 2.44 mN·m and 2.40 mN·m,respectively.The start-stop response time is less than 15 ms at no load.The mechanical efficiency of the bonded type is 10 times higher than sandwich.A single-mode piezoelectric actuator with dual metal cage rotors is proposed.When the excitation frequency is 72.8 kHz and the voltage is 300 Vpp,the two rotors can reach 1267 rpm and1203 rpm respectively,and the stall torque is 1.71 mN·m and 1.75 mN·m respectively.When the excitation frequency is 72.6 kHz and the voltage is 400 Vpp,the underwater speed of the piezoelectric actuator is 106.01 mm/s.Studies have shown that since there is no cavity inside and no seal is required,the piezoelectric driving method can be used for the driving of the micro AUV,and it is expected to relieve the restriction of the deep sea high water pressure on the driving system. |
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