Nonlinear dynamics of a piezoelectric precision drive system used for robot joint

Abstract

To improve the robot joint’s control precision, a piezoelectric precision drive system is proposed. The proposed system has merits of fast response and compact size. Using continuous dynamic theory, the nonlinear coupled dynamic models and equations of the drive system are established. Applying Linz Ted-Poincaré Method, the approximate solutions of nonlinear solutions are solved. The magnitude-frequency characteristics are also analyzed. What’s more, the effects of nonlinear piezoelectric characteristic on the system’s dynamic performance are investigated yet. Results show that the jump phenomenon of vibration amplitude occurs in nonlinear resonance. Meanwhile, the nonlinear piezoelectric characteristic influences the dynamic performance of the drive system obviously. These results can be used to predict the dynamic load of the piezoelectric precision drive system.