杨宜民, 李传芳, 周学才, 李医民. 高精度压电旋转驱动器的研制[J]. 机器人, 1995, 17(6): 321-324..
YANG Yimin, LI Chuanfang, ZHOU Xuecai, LI Yimin. RESEARCH ON PIEZOELECTRICAL ROTARY ACTUATOR WITH HIGH PRECISION. ROBOT, 1995, 17(6): 321-324..
Abstract：This paper proposes a bionical working principle of a new rotary actuator. Based on this principle,its structure and controller are designed. The stator of the acturator has the shape of a cylinder;Its rotator has the shape of a lantern,which is composed of piezoelectrical elements(PZT)and circular notched mechanism. The controller includes current loop,position loop,correcting loop, etc. It has many advantages such as high precision,wide stepping range(steplessly adjustable),inner sensor,perfect output characteristics and powerful ability to resist load interference.