Abstract. The authors have developed Multi degree-of-freedom micro spherical ultrasonic motor using multiple spiral wire stators in previous research. In this research, the authors have developed the new spherical ultrasonic motor using single spiral wire stators. At the beginning, single spiral type wire stator was made. Next, rotational direction was controlled by duty ratio of traveling wave and standing wave. Then the drive properties of rotational speed and starting torque were clarified in this research. In the future, fixing method of wire stators without damping the vibration is needed to be planed. These results contribute to development of blood vessel endoscope which can move camera in any direction.
Abstract. The purpose of this study is development of micro ultrasonic motor for miniature robot arm. It will be assembled to a miniature robot applied to a mesh robot to represent the shape and stiffness of the surface of objects. In the first stage, the authors have developed a micro motor by ultrasonic technology. It has two components: a stator (a cube of 3 mm size) and a rotor (diameter of 1 mm). The authors have designed a new stator and a rotor to increase output torque. The first trial motor shows successfully the potential of the final goal of 5 μNm and 3 rpm with a reduction gear system.
A spherical ultrasonic motor for space has been developed by this investigation. Development results of the spherical ultrasonic motor which can be driven under the high temperature environment of the atmospheric pressure were described by previous paper. The results about developed spherical ultrasonic motor which was investigated in the environment of low temperature and temperature cycle are described by this paper. First, it was confirmed that the spherical ultrasonic motor drives in low temperature environment of −120 °C. When durability tests for the spherical ultrasonic motor were carried out in temperature of −80 °C, approximately 60 minutes as accumulated drive time was achieved. Further, freezing phenomenon occurred on a sliding surface between stator and spherical rotor of the spherical ultrasonic motor, and drive of the spherical ultrasonic motor was disturbed. Next, when a drive experiments about the temperature cycle were carried out, influence of the temperature cycle to a torque was small. It was confirmed that the rotational speed decreases by the decline of piezoelectric of a piezoelectric element and the decline of the hardness of the adhesive to which a piezoelectric element and an elastic body are attached in high temperature environment. On the other hand, it was confirmed that the rotational speed decreases by the freezing which occurs on the sliding surface and the influence of the characteristic of the piezoelectric element in low temperature environment.
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