基于粘滑驱动原理的压电式直线-旋转运动平台

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关键词：压电驱动器；粘滑运动；精密驱动；柔度矩阵

中图分类号：TH112 文献标识码：A

doi：10.37188/OPE.20253319.3078 CSTR：32169.14.OPE.20253319.3078

Abstract： A linear-rotary piezoelectric motion platform based on the stick-slip driving principle was developed to address the requirements of robot-assisted target puncture. The platform integrates a two-degreeof-freedom flexure mechanism with an active locking flexure mechanism to achieve coupled linear-rotary motion while efectively suppressing backward displacement. Statics were derived using the compliance matrix method and a closed-loop serial flexure model， and structural parameters were optimized via a genetic algorithm. Static，modal，and transient response analyses were conducted using finite element analysis to determine the optimized amplification ratios and to validate the effectiveness of the active locking mechanism.Experimental results indicate amplification ratios of 2.865and 1.568 for linear and rotary mo tions，respectively. The active locking mechanism reduced linear and rotary retraction displacements by 69.15% and 89.40% . The actuator attained a maximum linear velocity of 2428.25μm/s with a resolution of 0.569μm . In the rotary direction，continuous 360∘ rotation was achieved with a maximum speed of （204号 58 019μrad/s and a resolution of 14.4μrad . The actuator exhibited low coupling between motions and high bidirectional motion consistency （≥94% ），demonstrating suitability for target-puncture applications. Key words： piezoelectric actuator; stick-slip motion; precision actuation; compliance matrix

1引言

微创介入手术凭借伤口小、组织损伤少的优势，能大幅缩短患者康复周期并减轻伤痛，已成为现代外科医学的核心技术[1]。（剩余17783字）