CN108667206B - A kind of flexible actuator of intelligence based on the double film springs of separate type - Google Patents
A kind of flexible actuator of intelligence based on the double film springs of separate type Download PDFInfo
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- CN108667206B CN108667206B CN201810461054.6A CN201810461054A CN108667206B CN 108667206 B CN108667206 B CN 108667206B CN 201810461054 A CN201810461054 A CN 201810461054A CN 108667206 B CN108667206 B CN 108667206B
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- spring
- voice coil
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- coil motor
- displacement sensor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/035—DC motors; Unipolar motors
- H02K41/0352—Unipolar motors
- H02K41/0354—Lorentz force motors, e.g. voice coil motors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Vibration Prevention Devices (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
Abstract
A kind of flexible actuator of intelligence based on the double film springs of separate type, it include: flexible hinge (2), strut (3), fluting spring installation lid (4) etc., upper damping installation sheet (19), lower damping installation sheet (20), wherein voice coil motor (12) includes voice coil motor mover (21) and voice coil motor stator (22).After being installed, by the measurement feedback of large range high precision eddy current displacement sensor (17) and the control output of big stroke fast-response voice coil motor (12), realizes the vibration isolation of the flexible actuator of intelligence, disturbs vibration inhibition and be accurately directed to adjust.For the flexible actuator of intelligence of the invention using the double film spring parallel-connection structure forms of separate type, movement travel is big, and control precision is high, can be widely used in spacecraft superhigh precision, ultrastability, super quick control field.
Description
Technical field
The invention belongs to spacecraft control fields, are related to a kind of flexible actuator of intelligence.
Background technique
In recent years, with very high resolution earth observation, the high steady tracking of space movement target and high-resolution imaging etc.
A series of it is proposed of Future direction demands proposes high requirement to precision, the stability of satellite control system.
The measurement accuracy such as traditional attitude sensor (star quick, gyro) and Measurement bandwidth limitation are limited to, it is traditional
Low bandwidth attitude control system can not influence in wide frequency domain to various disturbing moments realize and effectively inhibit, be based only upon Satellite Attitude
State control has been difficult to meet under prior art conditions very high come the technical solution for the steady direction control of essence for realizing payload
Precision is directed toward and stability contorting requirement；Therefore, it is proposed to pass through actively in the design scheme of load and celestial body installation active platform
The vibration isolation of actuator in platform disturbs vibration and inhibits and be accurately directed to realize the high performance index of load.
However currently used actuator generally only installs vibrating sensor (such as force snesor, acceleration transducer), because
And only have the function of active vibration isolation, regulatory function is accurately directed to without having.And in actuator junction using traditional general
Logical hinge (such as flexural pivot and Hooke's hinge) limits the control output accuracy of actuator due to the presence to rub with gap.And with
Satellite load it is continuous increase, the quick motor-driven continuous improvement with fast and stable performance, current small stroke active vibration isolation makees
Dynamic device has been unable to satisfy application demand.
Summary of the invention
Technical problem solved by the present invention is overcome the deficiencies in the prior art, propose a kind of based on the double film springs of separate type
It is axially rigid to provide the flexible actuator of intelligence using the double film springs of separate type and fluting spring parallel form for intelligence flexibility actuator
Degree, and by the axial movement of the intelligent flexible actuator of the double film spring strict guarantees of separate type, flexible link is added using fluting spring
Structure type realizes the function of flexible hinge, provides the flexible actuator of intelligence and axially moves to by the flexible actuator group of multiple intelligence
At the transmitting of platform six-freedom motion, and by big stroke fast-response voice coil motor and large range high precision eddy current sensor,
The large stroke and high precision control output of the flexible actuator of intelligence is realized jointly, while being realized the vibration isolation of load, being disturbed vibration
Inhibit and be accurately directed to, efficiently solves the superhigh precision, ultrastability, super quick control problem of satellite.
The technical scheme adopted by the invention is that: a kind of flexible actuator of intelligence based on the double film springs of separate type, comprising: soft
Property hinge, strut, fluting spring installation lid, upper mounting seat, flexible link, fluting spring, lower mounting seat, upper film spring, mover install
Lid, voice coil motor, outer cylinder, stator install lid, lower film spring, displacement sensor measured piece, displacement sensor, bottom cover；Voice coil motor
Mover installation lid, stator installation lid are installed in both ends respectively, and voice coil motor, mover installation lid are mounted in outer cylinder, stator installation lid
It is fixed on outer tube inner wall；Lower mounting seat is installed lid middle part boss with mover and is connect, and lower mounting seat and mover installation lid middle part are convex
Upper film spring inner ring is clamped between platform；Flexible link lower end is mounted in lower mounting seat centre bore, and flexible link upper end is mounted on installation
In seat centre bore；It is connected in the middle part of upper mounting seat and fluting spring mounting seat；Fluting spring mounting seat outer ring and fluting spring upper end
Outer ring is connected, and fluting lower spring end outer ring is mounted on outer cylinder top port, slots and presss from both sides between lower spring end outer ring and outer cylinder port
Tightly upper film spring outer ring；Strut one end connection fluting spring installation lid middle part, the other end are connect with flexible hinge lower end；Displacement sensing
The newel of device measured piece is pacified after sequentially passing through lower film spring inner ring, stator installation lid centre bore, voice coil motor centre bore with mover
Capping is fixedly connected；Lower film spring outer ring is fixed at the step structure of outer cylinder bottom interior wall；Displacement sensor is mounted on bottom cover,
Bottom cover is mounted on outer cylinder bottom port.
The voice coil motor includes voice coil motor mover and voice coil motor stator, open-minded on voice coil motor stator central axes
Hole；Voice coil motor mover is connected with mover installation lid；Voice coil motor stator is fixed on stator installation and covers.
Further include flexible hinge position-limiting drum, flexible hinge position-limiting drum is installed outside the flexible hinge, on flexible hinge
End is connected with external structure and compresses upper flexible hinge position-limiting drum simultaneously；The material of the flexible hinge is titanium alloy.
The upper film spring and lower film spring structure form are identical with material, and the material of upper film spring and lower film spring is beryllium-bronze.
It further include upper damping installation sheet, lower damping installation sheet；Circumferentially pacify respectively in the outside of the fluting spring upper and lower end
Fill several upper damping installation sheets and lower damping installation sheet, upper damping installation sheet and lower damping installation sheet position is corresponding and number phase
Together；It is compressed between upper damping installation sheet outer wall and lower damping installation sheet inner wall and damping material is installed.
The displacement sensor is eddy current displacement sensor, and measurement range is ± 5mm, and resolution ratio is 0.3 μm；Displacement
Sensor probe center line is overlapped with the flexible actuator center line of the intelligence, and upper end of popping one's head in is deposited with displacement sensor measured piece
In distance.
The displacement sensor measured piece includes tested disk and the newel positioned at tested disc centre, is tested disk
Diameter be the three times of displacement sensor probe diameter or more, the material of displacement sensor measured piece is aluminium alloy.
It further include limited block, each limited block passes through the side wall of outer cylinder, and circumferentially fixed along outer cylinder, covers for installing to mover
It is limited with voice coil motor mover.
The fluting spring is realized by radial cuts hollow cylinder, and material is titanium alloy.
The material of the flexible link is spring steel.
Compared with the prior art, the present invention has the following advantages:
(1) the method for the present invention uses voice coil motor center opening form, and sensor tested surface is passed through by centre bore
Voice coil motor, while guaranteeing that eddy current displacement sensor and tested surface are located on intelligence flexible actuator central axes, improve intelligence
The measurement and control precision of the flexible actuator of energy.
(2) the method for the present invention is using the structure type of the double film spring parallel connections of separate type, and except providing, the flexible actuator of intelligence is axial
Outside rigidity, the radial motion and relative rotation between voice coil motor mover and stator are also limited, avoids the flexible actuator of intelligence
Since voice coil motor mover and stator gap are too small and collide when work.
(3) the method for the present invention joined damping material on the outside of fluting spring, increase the quilt of the flexible actuator of intelligence
The time is stablized in dynamic damping, the control for greatly shortening the flexible actuator of intelligence.
Detailed description of the invention
Fig. 1 is the sectional view of the flexible actuator of present invention intelligence；
Fig. 2 is the composition figure of voice coil motor of the present invention；
Fig. 3 is the schematic diagram of the upper film spring of the present invention；
Fig. 4 is the schematic diagram of lower film spring of the present invention；
Fig. 5 is the axial limiting schematic diagram of the flexible actuator of present invention intelligence；
Fig. 6 is the axial limiting top view of the flexible actuator of present invention intelligence；
Fig. 7 is the corner locating schematic diagram of flexible hinge of the present invention；
Fig. 8 is the scheme of installation of damping material of the present invention；
Fig. 9 is the installation top view of damping material of the present invention；
Figure 10 is the partial enlarged view of flexible link of the present invention connection.
Specific embodiment
With reference to the accompanying drawing and specific embodiment further illustrates the contents of the present invention.
As shown in Figure 1, a kind of flexible actuator of intelligence based on the double film springs of separate type, comprising: flexible hinge position-limiting drum 1,
Flexible hinge 2, strut 3, fluting spring installation lid 4, upper mounting seat 5, flexible link 6, fluting spring 7, lower mounting seat 8, upper film spring
9, mover installation lid 10, limited block 11, voice coil motor 12, outer cylinder 13, stator install lid 14, lower film spring 15, displacement sensor quilt
Survey part 16, displacement sensor 17, bottom cover 18, upper damping installation sheet 19, lower damping installation sheet 20.
As shown in Fig. 2, voice coil motor 12 includes voice coil motor mover 21 and voice coil motor stator 22, and fixed in voice coil motor
The through-hole that diameter is 10mm is opened on sub 22 central axes；The impulse stroke of the voice coil motor is ± 6mm, and maximum output power is
450N, power output accuracy are 0.02N.
As shown in fig. 7, installing flexible hinge position-limiting drum 1 outside the flexible hinge 2, the maximum for limiting flexible hinge turns
Angle, to protect flexible hinge fatigue rupture due to caused by lasting large deformation；Flexible hinge material used is titanium alloy.Pass through
Corner locating distance s is adjusted, while so that it is met intelligence flexibility actuator normal work corner, limits the maximum of flexible hinge
Corner；In the present embodiment, s=2mm.Flexible hinge 2 requires high axial rigidity and shearing rigidity and small bending stiffness
And torsion stiffness.By the wire cutting to cylindrical body the bending stiffness of cylindrical body is declined to a great extent, and the rigidity in remaining direction
Decline it is less, make its along vertical axial rotational stiffness be much smaller than remaining direction rigidity.It can by the design in wire cutting path
Guarantee that virtual axle is overlapped with flexible hinge chain design shaft.Flexible hinge 2 should select as far as possible elasticity modulus smaller and surrender pole
Limit biggish material.The bending stiffness of flexible hinge 2 is 60Nm/rad in the present embodiment；The material of flexible hinge chain 2 is titanium conjunction
Gold.
As shown in Figure 3, Figure 4, the upper film spring 9 is made by the way that upper film spring inner ring 23 and upper film spring outer ring 24 and intelligence are flexible
Dynamic device motion parts are connected with fixed part；Lower film spring 15 is flexible by lower film spring inner ring 25 and lower film spring outer ring 26 and intelligence
Actuator motion parts are connected with fixed part, and upper film spring 9 and cooperation limitation 21 He of voice coil motor mover of lower film spring 15
Radial motion and relative rotation between voice coil motor stator 22；Upper film spring 9 is identical with material with the structure type of lower film spring 15,
The axial rigidity of film spring is realized by the adjustment to the selection of film spring material, film spring thickness and decorative pattern；Upper film spring 9, lower film spring 15
Material is beryllium-bronze.
The fluting spring 7, upper film spring 9, lower film spring 15 realize the axial rigidity of actuator jointly, and set three
The axial rigidity of person is identical；The axial rigidity of monolithic membrane spring is 10N/mm in the present embodiment；The material of film spring used is beryllium-bronze；
The axial rigidity of fluting spring 7 is 10N/mm；The material of fluting spring used is titanium alloy；
The fluting spring 7 is realized by radial cuts hollow cylinder, has lower axial rigidity and curved
Stiffness cooperates with flexible link 6, has both the function of film spring and flexible hinge；
6 diameter of flexible link is 3mm, and material is spring steel；
The displacement sensor 17 is eddy current displacement sensor, and measurement range is ± 5mm, and resolution ratio is 0.3 μm；Institute
The displacement sensor measured piece 16 stated includes tested disk and the newel positioned at tested disc centre, and being tested disk diameter is position
More than the three times of 17 probe diameter of displacement sensor, the material of displacement sensor measured piece is aluminium alloy.
As shown in Fig. 8 to Figure 10, the damping material that compresses among the upper damping installation sheet 19 and lower damping installation sheet 20
Material 27, generally visco-elastic damping material, such as silicon rubber provide the passive damping of the flexible actuator of intelligence.
As shown in Figure 5, Figure 6, intelligence is realized in the limited block 11, mover installation lid 10, the combination of voice coil motor mover 21
The axial limiting of flexible actuator.As shown, making it meet the flexible actuator of intelligence just by adjusting axial limiting distance d
While normal axial stroke, the maximum axial stroke of the flexible actuator of intelligence is limited, to protect displacement sensor probe, avoid sound
Circle electric mover is mutually collided with voice coil motor stator；D=5mm in the present embodiment.
The type of attachment and working principle of the flexible actuator of intelligence are as follows: voice coil motor mover 21 and mover install lid 10
It is connected；Lower mounting seat 8 passes through upper film spring inner ring 23 by screw, and is fixedly connected with mover installation lid 10；It wears 6 lower end of flexible link
8 centre bore of lower mounting seat is crossed, and the circumferential screw by passing through lower mounting seat 8 is compressed；6 upper end of flexible link passes through upper installation
5 centre bores of seat, and the circumferential screw by passing through upper mounting seat 5 is compressed；Upper mounting seat 5 passes through screw and fluting spring peace
4 middle section of capping is connected；Spring of slotting installs 4 outer ring of lid and is connected by screw and fluting 7 upper end outer ring of spring；Fluting spring
7 lower ends outer ring pass through upper film spring outer ring 24 and outer cylinder 13 are connected by screw；It is installed respectively in fluting 7 outside upper and lower end of spring
Four upper damp damp installation sheet 20 under installation sheets 19 and four, compress among upper damping installation sheet 19 and lower damping installation sheet 20
And pass through glue sticking damping material 27；Fluting spring installation lid 4 is connect by upper external screw thread with 3 lower end internal thread hole of strut；
3 upper external screw thread of strut is connect with 2 lower end internal thread hole of flexible hinge, and 2 upper end of flexible hinge passes through internal thread hole and external knot
Structure is connected, and compresses upper flexible hinge position-limiting drum 1 simultaneously；Four limited blocks 11 pass through the side wall of outer cylinder 13, and pass through screw
It is fixed on outer cylinder 13；Voice coil motor stator 22, which is fixed on stator by screw, to be installed on lid 14, and stator installation lid 14 passes through week
To threaded hole with pass through 13 side wall of outer cylinder screw be connected, by stator installation lid 14 be fixed on 13 side wall of outer cylinder；Stator peace
14 central axes aperture of capping, displacement sensor measured piece 16 pass through lower film spring inner ring 25, stator installation 14 centre bore of lid, voice coil electricity
12 centre bore of machine is installed 10 lower end internal thread hole of lid with mover by upper external screw thread and is fixedly connected, and displacement sensor quilt
16 lower end of part is surveyed to be fixedly connected with lower film spring inner ring 25 by screw；13 bottom of outer cylinder is fixed on by screw in lower film spring outer ring 26
End；Displacement sensor 17 is installed on bottom cover 18 by screw, and guarantees 17 center probe line of displacement sensor and entire intelligence
Flexible actuator center line is overlapped, and upper end of popping one's head in apart from displacement sensor measured piece 16 apart from for 6mm；Outer cylinder 13 and bottom cover 18
Screw by passing through outer ring is connect with external structure；The mover installation lid 10 that is connect with voice coil motor mover 21, in upper film spring
Circle 23, lower mounting seat 8, flexible link 6, upper mounting seat 5, fluting 7 upper end of spring, fluting spring install lid 4, strut 3, flexible hinge
2, flexible hinge position-limiting drum 1 and displacement sensor measured piece 16, lower film spring inner ring 25 collectively constitute the flexible actuator of intelligence
Motion parts, connect with voice coil motor stator 22 stator installation lid 14, upper film spring outer ring 24, lower film spring outer ring 26, outer cylinder 13,
Bottom cover 18, displacement sensor 17, fluting 7 lower end of spring collectively constitute the fixed part of the flexible actuator of intelligence.It is scratched positioned at intelligence
Property actuator fixed part displacement sensor 17 can measure the displacement sensor for being located at the flexible actuator motion parts of intelligence
The relative motion of measured piece 16 is displaced, and when the flexible actuator of intelligence, which is realized, to be moved to target position, can pass through displacement sensor
The deviation of 17 measurement results and target position designs control algolithm, such as pid control algorithm, and then passes through controller and voice coil electricity
Machine driver exports electric current, and driving voice coil motor generates control force, moves in a straight line motion parts relative to fixed part, arrive
Up to target position.After being installed, pass through the measurement and big stroke fast-response of large range high precision eddy current displacement sensor 17
The control of voice coil motor 12 exports, and realizes the large stroke and high precision output of the flexible actuator of intelligence, and the displacement sensor is surveyed
Amount range is ± 5mm, and resolution ratio is 0.3 μm.The voice coil motor impulse stroke is ± 6mm, and maximum output power is 450N, power
Output accuracy is 0.02N.
The flexible actuator of present invention intelligence is installed between satellite body and load in such a way that multiple actuator are in parallel,
The vibration isolation of load is realized with this, is disturbed vibration inhibition and is accurately directed to adjust.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (10)
1. a kind of flexible actuator of intelligence based on the double film springs of separate type characterized by comprising flexible hinge (2), strut
(3), fluting spring installation lid (4), upper mounting seat (5), flexible link (6), fluting spring (7), lower mounting seat (8), upper film spring
(9), mover installation lid (10), voice coil motor (12), outer cylinder (13), stator installation lid (14), lower film spring (15), displacement sensor
Measured piece (16), displacement sensor (17), bottom cover (18)；Mover installation lid (10) is installed respectively, is determined in voice coil motor (12) both ends
Son installation lid (14), voice coil motor (12), mover installation lid (10) are mounted in outer cylinder (13), and stator installation lid (14) is fixed on
On outer cylinder (13) inner wall；Lower mounting seat (8) is installed boss in the middle part of lid (10) with mover and is connect, and lower mounting seat (8) and mover are installed
It covers and clamps upper film spring inner ring (23) in the middle part of (10) between boss；Flexible link (6) lower end is mounted in lower mounting seat (8) centre bore,
Flexible link (6) upper end is mounted in upper mounting seat (5) centre bore；It is solid in the middle part of upper mounting seat (5) and fluting spring mounting seat (4)
Even；It slots spring mounting seat (4) outer ring and fluting spring (7) upper end outer ring is connected, fluting spring (7) lower end outer ring is mounted on outer
Cylinder (13) top port slots and clamps upper film spring outer ring (24) between spring (7) lower end outer ring and outer cylinder (13) port；Strut
(3) in the middle part of one end connection fluting spring installation lid (4), the other end is connect with flexible hinge (2) lower end；Displacement sensor measured piece
(16) after newel sequentially passes through lower film spring inner ring (25), stator installation lid (14) centre bore, voice coil motor (10) centre bore
Lid (10) is installed with mover to be fixedly connected；Lower film spring outer ring (26) is fixed at the step structure of outer cylinder (13) bottom interior wall；Position
Displacement sensor (17) is mounted on bottom cover (18), and bottom cover (18) is mounted on outer cylinder (13) bottom port.
2. a kind of flexible actuator of intelligence based on the double film springs of separate type according to claim 1, it is characterised in that: described
Voice coil motor (12) includes voice coil motor mover (21) and voice coil motor stator (22), is opened on voice coil motor stator (22) central axes
Through-hole；Voice coil motor mover (21) installs lid (10) with mover and is connected；Voice coil motor stator (22) is fixed on stator installation lid
(14) on.
3. a kind of flexible actuator of intelligence based on the double film springs of separate type according to claim 1 or 2, it is characterised in that:
Further include flexible hinge position-limiting drum (1), flexible hinge position-limiting drum (1) is installed outside the flexible hinge (2), flexible hinge
(2) upper end is connected with external structure and compresses flexible hinge position-limiting drum (1) simultaneously；The material of the flexible hinge (2) is titanium
Alloy.
4. a kind of flexible actuator of intelligence based on the double film springs of separate type according to claim 3, it is characterised in that: described
Upper film spring (9) it is identical with material with lower film spring (15) structure type, the material of upper film spring (9) and lower film spring (15) is that beryllium is green
Copper.
5. a kind of flexible actuator of intelligence based on the double film springs of separate type according to claim 1 or 2, it is characterised in that:
It further include upper damping installation sheet (19), lower damping installation sheet (20)；The outside of described fluting spring (7) upper and lower end is respectively along week
To several upper damping installation sheets (19) of installation and lower damping installation sheet (20), upper damping installation sheet (19) and lower damping installation sheet
(20) position is corresponding and number is identical；It compresses and pacifies between upper damping installation sheet (19) outer wall and lower damping installation sheet (20) inner wall
It fills damping material (27).
6. a kind of flexible actuator of intelligence based on the double film springs of separate type according to claim 1 or 2, it is characterised in that:
The displacement sensor (17) is eddy current displacement sensor, and measurement range is ± 5mm, and resolution ratio is 0.3 μm；Displacement sensing
Device (17) center probe line is overlapped with the flexible actuator center line of the intelligence, and pop one's head in upper end and displacement sensor measured piece
(16) there are distances.
7. a kind of flexible actuator of intelligence based on the double film springs of separate type according to claim 6, it is characterised in that: described
Displacement sensor measured piece (16) include tested disk and the newel positioned at tested disc centre, the diameter of tested disk is
More than the three times of displacement sensor (17) probe diameter, the material of displacement sensor measured piece (16) is aluminium alloy.
8. a kind of flexible actuator of intelligence based on the double film springs of separate type according to claim 1 or 2, it is characterised in that:
It further include limited block (11), each limited block (11) passes through the side wall of outer cylinder (13), and circumferentially fixed along outer cylinder (13), for dynamic
Son installation lid (10) and voice coil motor mover (21) are limited.
9. a kind of flexible actuator of intelligence based on the double film springs of separate type according to claim 1, it is characterised in that: described
Fluting spring (7) be to be realized by radial cuts hollow cylinder, material is titanium alloy.
10. a kind of flexible actuator of intelligence based on the double film springs of separate type according to claim 1, it is characterised in that: institute
The material for the flexible link (3) stated is spring steel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810461054.6A CN108667206B (en) | 2018-05-15 | 2018-05-15 | A kind of flexible actuator of intelligence based on the double film springs of separate type |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810461054.6A CN108667206B (en) | 2018-05-15 | 2018-05-15 | A kind of flexible actuator of intelligence based on the double film springs of separate type |
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| CN108667206A CN108667206A (en) | 2018-10-16 |
| CN108667206B true CN108667206B (en) | 2019-07-12 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109921599A (en) * | 2019-03-28 | 2019-06-21 | 深圳市赫瑞科技有限公司 | A kind of linear motor with flexible base |
| CN112688531A (en) * | 2020-12-18 | 2021-04-20 | 上海大学 | Voice coil motor active suspension |
| CN114233785A (en) * | 2021-11-30 | 2022-03-25 | 沈阳航天新光集团有限公司 | Dynamic vibration absorber |
| CN114244065A (en) * | 2021-12-03 | 2022-03-25 | 北京辰阳自动化科技有限公司 | Voice coil motor and flexible vibration dish |
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| JP2011109831A (en) * | 2009-11-18 | 2011-06-02 | Aisin Seiki Co Ltd | Linear actuator |
| CN102155516A (en) * | 2011-01-24 | 2011-08-17 | 北京航空航天大学 | Eight-rod-redundant-configuration and six-degree-of-freedom active vibration control device |
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| CN107943128A (en) * | 2017-12-25 | 2018-04-20 | 北京航空航天大学 | A kind of multivariant voice coil loudspeaker voice coil vibration isolation vibration suppression structure and its control method |
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| JP2011109831A (en) * | 2009-11-18 | 2011-06-02 | Aisin Seiki Co Ltd | Linear actuator |
| CN102155516A (en) * | 2011-01-24 | 2011-08-17 | 北京航空航天大学 | Eight-rod-redundant-configuration and six-degree-of-freedom active vibration control device |
| CN102412695A (en) * | 2011-09-23 | 2012-04-11 | 北京航空航天大学 | Voice coil actuator based on linear elastic double-membrane spring structure |
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