Electromechanical integrated electrostatic harmonic actuator

Abstract

An active electromechanical integrated electrostatic harmonic actuator is invented. The actuator is driven by a rotating electric field. In the actuator, integration of the harmonic drive, motor, and control can be realized. It is a new concept of the electromechanical drive system. The operating principle of the actuator is introduced. By means of electricity and mechanics, the driving mechanics of the actuator is analysed. Two different active states of the actuator are found. The formulae of the driving torque are given for two different active states, respectively. The limit output torque of the actuator is determined. Changes of the output torque along with elastic deformation of the flexible ring are presented. The load-carrying ability of the actuator is compared between two active states. The results are useful in further theory and technique studies on the actuator.