Development of Ultrasonic Motors using Longitudinal and Bending Natural Vibration for Multi-Degrees of Freedom Motion.

Maéno, Takashi; Takemura, Kenjiro; Kojima, Nobuyuki

doi:10.7210/jrsj.16.1115

Cited by 7 publications

(1 citation statement)

References 3 publications

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“…Hence the MDOF electric motor has some disadvantages such as larger volume, complicated structure, and control difficulties. 1) Owing to the above reasons, MDOF ultrasonic motors [2][3][4][5][6] have been studied and results concerning an MDOF spherical ultrasonic motor (SUSM) [7][8][9][10][11][12] have been reported before.…”

Section: Introductionmentioning

confidence: 99%

Examination of Sandwich-Type Multidegree-of-Freedom Spherical Ultrasonic Motor

Aoyagi

Takano

et al. 2010

Jpn. J. Appl. Phys.

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A sandwich-type multidegree-of-freedom (MDOF) spherical ultrasonic motor (SUSM) is newly proposed. The motor consists of a spherical rotor and two stator vibrators holding the rotor. This structure has both a rotor support and a preload mechanism. The stator excites five vibration modes, and the rotor can rotate on three axes. An experiment of a torque composition of two stators was carried out. The contact surface between the rotor and the stators forms a spherical surface. Moreover, a displacement magnification mechanism, which was used in the former model to rotate on the Z-axis, is no longer necessary. Hence the stator is simpler in construction than the former model. In this paper, we describe the construction and the operating principle of the MDOF ultrasonic motor, modal analysis results for the stator, and some measurement results from trial manufacturing. The miniaturization of the motor and increase in torque were successfully realized.

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Section: Introductionmentioning

confidence: 99%

Examination of Sandwich-Type Multidegree-of-Freedom Spherical Ultrasonic Motor

Aoyagi

Takano

et al. 2010

Jpn. J. Appl. Phys.

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Basic characteristics of the developed spherical stepping motor

Yano

Suzuki²,

Sonoda³

et al.

Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots Wit

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The positioning accuracy, output torque, and the trajectory tracing property of the developed spherical stepping motor are tested. The motor is composed of two arc-shaped stepping submotors and a rotational stepping submotor.The rotational center of each submotor is identical.The following characteristics are derived from the experimental results. The positioning resolutions of the inner, middle, and outer submotors are O.O0781[deg], O.OOSSS[deg], and O.OOSSS[deg] respectively. The holding torques of the inner, middle, and outer submotors are O.O93[Nm], 0.38[Nm], and 2.06[Nm] respectively. It can trace along the circle and the radiation trajectory within 0.2[deg] error, and the star trajectory within O.l[deg] error. In comparison with the developed spherical synchronous motor, the positioning resolution is better but the torqueldiameter ratio is smaller.

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Design of 2-DOF pyramid type ultrasonic motor

Shimoda

Ueyama²,

Matsuda³

et al.

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics I

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The design of an ultrasonic motor having two-DOF is presented. The drive unit consists of four piezoelectric actuators arranged in a pyramid shape. Circular vibration at the apex generates a thrust when a rotor is pressed against the apex. The direction of the thrust within the tangent plane of the rotor is controlled by the displacement and phase differences among the four piezoelectric actuators. The theoretical analysis and design method of this actuator unit is presented. This actuator can rotate a spherical rotor. The orientation of the spherical rotor, which has three degree of freedom, is controlled by solving non-holonomic kinematics equations between the rotor and the drive unit. The solution is given in detail. Experiments demonstrated that the direction and speed of the rotation of the spherical rotor were controllable.

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Development of Ultrasonic Motors using Longitudinal and Bending Natural Vibration for Multi-Degrees of Freedom Motion.

Cited by 7 publications

References 3 publications

Examination of Sandwich-Type Multidegree-of-Freedom Spherical Ultrasonic Motor

Examination of Sandwich-Type Multidegree-of-Freedom Spherical Ultrasonic Motor

Basic characteristics of the developed spherical stepping motor

Design of 2-DOF pyramid type ultrasonic motor

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