机器人关节用压电精密传动系统动态特性研究OA

The piezoelectric precision transmission system is an important technical solution for achieving micro-dis-placement and high-precision control in robotic joints.In this study,the piezoelectric precision transmission system is taken as the research object,and its nonlinear dynamic characteristics in robotic joints are systematically analyzed.A multi-physics coupled dynamic model is established,and frequency-domain and time-domain experiments are con-ducted to reveal the natural frequency characteristics,energy transfer mechanisms,and stability boundaries of the joint system under piezoelectric actuation.On this basis,improved modeling methods and parameter identification strategies are proposed,and dynamic optimization schemes based on feedforward compensation and adaptive control are explored.Experimental results indicate that the system's natural frequency is 398 Hz,with the peak error of resonance controlled within 5%.The step response overshoot is 3.5%,and the steady-state error is 1.2%.The findings demonstrate that this system can achieve stable and rapid dynamic response within the micrometer range.This study aims to provide theo-retical guidance and experimental reference for the design and application of high-performance robotic joint actuators.