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视觉系统是自主机器人的核心。为了实现类似人眼复杂运动的一些视觉运动,如目标跟踪、图像稳定和前庭动眼发射,我们设计了一套基于球形超声电机(SUSM)的,具有三个旋转自由度机器人仿生眼机构。球形超声电机具有结构紧凑,占空间小,响应快,定位精度高,低速时转矩大,磁场兼容性强等特点。因此基于球形超声电机的仿生眼可以有效解决机器人工作时的视觉不稳定问题。本仿生眼由三个背面粘有若干压电陶瓷片的环形定子和作为摄像头驱动器的球形转子组成。三个定子内的特制螺旋弹簧变形后产生三个相同的压紧力后,然后通过摩擦传动驱动转子振动。通过对本仿生眼虚拟样机的仿真,分析了其旋转速度、旋转力矩和响应时间等,从而初步证明本设计的合理性和有效性。
Vision system is the core of autonomous robot. In order to achieve some visual movements such as target tracking, image stabilization and vestibular eyepieces, we designed a three-DOF bionic eye based on a spherical ultrasonic motor (SUSM). Spherical ultrasonic motor has the advantages of compact structure, small space, fast response, high positioning accuracy, high torque at low speed and strong magnetic field compatibility. Therefore, the bionic eye based on the spherical ultrasonic motor can effectively solve the problem of visual instability when the robot works. The biomimetic eye consists of three annular stators with a number of piezoceramic sheets on the back and a spherical rotor as a camera driver. After the special coil springs of the three stators are deformed to produce the same three pressing forces, the rotor vibration is driven by the friction transmission. Through the simulation of the virtual prototype of the bionic eye, the rotating speed, rotating torque and response time are analyzed to prove the rationality and effectiveness of this design.