Development of electromagnetic and piezoelectric hybrid actuator system

摘要

An ordinal force-feedback device typically uses an electromagnetic motor (EMM), which provides an excellent expression of elasticity. However, it is not easy to express the sense of hardness and roughness because the response of the current is delayed due to the inductance of the armature winding. On the contrary, a piezoelectric actuator, which has a rapid response, is good at expressing the sense of hardness and roughness. Thus, if different types of actuators are used in the same actuator system (AS), the weaknesses of each type can be compensated for. In this study, as an ideal force-feedback device, a hybrid actuator system combining an EMM with an ultrasonic motor (USM) and a piezoelectric clutch/brake (piezo-clutch/brake) is proposed and examined. This AS can expand the range of representable feelings. This paper describes the construction of a hybrid AS and some experimental results of a force-feedback display. In this experiment, the feelings of roughness, friction, and elasticity were represented. The feeling of roughness was represented by the on-off control of the piezo-brake at defined positions. The feeling of friction was represented by the PID control of braking using the piezo-clutch. The feeling of elasticity was represented by two methods: the use of the EMM and brake and the use of a combination of the USM, clutch, and brake. As a result, the hardness feeling was realistically represented by the piezo-brake, and the elastic feeling was represented by either the EMM or the USM.