A Novel Piezoelectric Docking Mechanism Inspired by Bolt-Nut Connector: Design, Modeling, and Experimental Evaluation

Automated robotic systems require reliable docking mechanisms to extend their functional capabilities. In this article, we present a simplified piezoelectric docking mechanism (PDM) inspired by the bolt-nut connector to overcome the limitations of existing docking mechanisms regarding electromagnetic compatibility, size, and complexity. The piezoelectric nut (PN) is a driving component of the PDM that is capable of driving screws by exciting traveling waves. The key dimension of the PN is optimized to increase the output performance by creating dynamical model. Experimental results show that the maximum clamping force of the PDM prototype in the rigid connection state is 3.1 N, and the prototype can work in an environment of 100 °C, 1.8-T magnetic field, and 10 −4 -Pa pressure. Finally, two simple metal arms are machined to verify the feasibility of potential application of the PDM. This study provides a new idea to develop the rigidly connected docking mechanisms.