农机使用与维修Issue(2)：33-38,6.DOI:10.14031/j.cnki.njwx.2026.02.007
机器人关节用压电精密传动系统动态特性研究
Dynamic characteristic study of piezoelectric precision transmission system for robotic joints
摘要
Abstract
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.关键词
机器人关节/压电精密传动/非线性建模/迟滞补偿/自适应控制Key words
robot joint/piezoelectric precision transmission/nonlinear modeling/hysteresis compensation/adaptive con-trol分类
信息技术与安全科学引用本文复制引用
张建巧,孙圣迪,于小纳..机器人关节用压电精密传动系统动态特性研究[J].农机使用与维修,2026,(2):33-38,6.基金项目
邢台市市级科技计划资助(2024ZC031) （2024ZC031）
河北科技工程职业技术大学校级应用项目资助(H23095、H24206、H25163、H25169) （H23095、H24206、H25163、H25169）
