双模式慣性馬達之設計與特性研究

Abstract

本論文提出一種双模式慣性馬達，內含兩個並聯的壓電元件，同動模式下可以造成平移運動，差動模式下可以造成旋轉運動，進而具有兩個自由度，相較於傳統串聯式的設計具有多項優勢。本論文再以實驗方法探討此双模式慣性馬達的各項性能，例如速率、解析度、線性度、推力、扭矩等，再利用實驗結果決定適當的操作條件。

The design of a dual-mode inertia motor involves an actuator that can generate translational and rotational motion without connecting the actuators serially. The dual-mode inertia motor embeds two parallel piezoelectric elements. Translational motion is generated when these two piezoelectric elements act in the same direction; rotational motion is generated when these two piezoelectric elements act in the opposite direction. Traditionally, translational or rotational actuators should be stacked serially to have multi-axis degrees-of-freedom. This thesis presents performance characteristics such as linearity, resolution, velocity and appropriate operating frequency.