中性稳定壳体的多参数驱动：柔性无齿轮马达
Multiparameter actuation of a neutrally-stable shell: a flexible gear-less motor
摘要：
我们已经设计和实验测试的变形结构组成的中性稳定薄圆柱壳驱动的多参数压电驱动。该壳是通过塑性变形的初始平坦的铜盘，以诱导大的各向同性和几乎均匀的非弹性曲率。在塑性形变之后，在完全各向同性系统中，壳体理论上是中性稳定的，具有对应于最大曲率轴的旋转的稳定圆柱形状的连续流形。小的缺陷使实际结构弯曲，给出优选的取向。一个三参数的压电驱动，施加通过微纤维复合材料致动器，使我们能够添加一个小扰动的塑性非弹性曲率和控制的最大曲率的方向。这种驱动法是通过一个完全非线性不可扩展的均匀曲率壳模型的基础上的几何类比设计的。我们报告的制造，识别和实验测试的原型和证明的有效性的压电致动器在控制其形状。由此产生的运动是外壳的明显旋转，由电压控制，就像在“无齿轮马达”中一样，实际上，这是主曲率轴的进动。
英文摘要：
We have designed and tested experimentally a morphing structure consisting of a neutrally stable thin cylindrical shell driven by a multiparameter piezoelectric actuation. The shell is obtained by plastically deforming an initially flat copper disk, so as to induce large isotropic and almost uniform inelastic curvatures. Following the plastic deformation, in a perfectly isotropic system, the shell is theoretically neutrally stable, owning a continuous manifold of stable cylindrical shapes corresponding to the rotation of the axis of maximal curvature. Small imperfections render the actual structure bistable, giving preferred orientations. A three-parameter piezoelectric actuation, exerted through micro-fiber-composite actuators, allows us to add a small perturbation to the plastic inelastic curvature and to control the direction of maximal curvature. This actuation law is designed through a geometrical analogy based on a fully non-linear inextensible uniform-curvature shell model. We report on the fabrication, identification, and experimental testing of a prototype and demonstrate the effectiveness of the piezoelectric actuators in controlling its shape. The resulting motion is an apparent rotation of the shell, controlled by the voltages as in a "gear-less motor", which is, in reality, a precession of the axis of principal curvature.
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