Dynamics for an electromechanical integrated harmonic piezodrive system

The Authors propose an electromechanical integrated harmonic piezodrive system. The dynamics behavior of the movable tooth drive has important effects on its operating performance. Here, the dynamic equations of the movable tooth drive for the drive system are presented. Using the equations, the natural frequencies and vibrating modes of the movable tooth drive are investigated. Results show that five vibrating modes occur for the movable tooth drive which include system modes, static crown gear modes, movable tooth modes, translating rotor modes and translating crown gear modes. Eccentric center, thickness and length of the flexible ring, diameter of the movable tooth and speed ratio have significant effects on the natural frequencies of the movable tooth drive and should be selected properly.