中文摘要：

针对惯性式压电精密驱动器的非对称振动驱动机理难以分析的问题,提出了一种非对称结构的单摆,探讨了模型结构和运动原理。建立了非线性动力学方程,从能量转换和运动周期两个方面,分析了非对称单摆的工作特性。在此基础之上,设计、研制了实物模型;以初始释放角度θ0、中心距R和摆长L1为影响因素,对非对称单摆进行了周期特性试验。研究结果表明,非对称单摆具有两侧摆长、最大摆角和两侧半周期运动时间均不相同的特点;大摆角运动周期随初始释放角度θ0和摆长L1的增大而增大,随中心距R的增大而减小,周期理论计算结果和试验测试结果具有较好的重合性。非对称结构单摆工作特性的研究结果可为后续的惯性式压电精密驱动器的研发和设计打下坚实的基础。

英文摘要：

Aiming at the problem that the driving principle of asymmetric vibration was difficult to analyzed in the inertial piezoelectric precise actuators,the simple pendulum with asymmetric structure was proposed. Firstly its model structure and motion principle were discussed.After constructing the nonlinear dynamic equation,the working characteristics was analyzed in two major areas： energy transformation and period of motion. Then,the prototype was designed and fabricated. A series of experiments were performed to test the impact of the initial releasing angle θ0,center distance R and length L1 on the period of motion. The research results indicate that the pendulum length,maximum angle and half period on each side are all different. The motion period of asymmetric single pendulum under large angle condition increases with the increase of the initial releasing angle θ0and length L1,but decreases with the increase of the center distance R. The theoretical results of the period are coincident very well with the experiments. The results of the working characteristics of the simple pendulum with asymmetric structure lay the foundation of the development and design of inertial piezoelectric precise actuators.