Micro spherical ultrasonic motor using single spiral wire stators

Wang, Fulin; Nishizawa, Uichi; Toyama, Shigeki

doi:10.21595/vp.2017.18942

Cited by 4 publications

(8 citation statements)

References 4 publications

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“…The geometric relationship and spatial position relationship of the stator and rotor of the three-degree-of-freedom piezoelectric spherical motor are shown in Figure 5 [ 14 ]. Set the origin of the basic coordinate system Σ 0 ( Oxyz ) at point O of the spherical rotor center, where α 0 represents the angle between the central axis of Stator 1 and the x -axis in the basic coordinate system Σ 0 , S represents the contact circumference of the stator and rotor, and the central axis of Stator 1 is located in the x - z plane.…”

Section: Driving Mathematical Modelmentioning

confidence: 99%

“…By extending the driving concept of the traveling wave stator, a traveling wave copper wire ring can also be used as the driver, and its traveling wave is generated by a Langevin vibrator. Compared with the traditional traveling wave stator, this structure has a smaller volume, but the torque is relatively smaller [ 13 , 14 ]. Niu Zijie et al proposed a three-stator piezoelectric spherical motor based on a flexible base, where the flexible base has an elastic structure to ensure a certain preload between the rotor and stator after assembly [ 15 ].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Model and Property Analysis for a Ball-Hinged Three-Degree-of-Freedom Piezoelectric Spherical Motor

Wang,

Li,

Liu

et al. 2024

Sensors

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Multi-degree-of-freedom piezoelectric motors have the advantages of high torque and resolution, simple structure, and direct drive, which are widely used in robot wrist joints, deep-sea mechanisms, medical equipment, and space mechanisms. To solve the problems of high force/torque coupling degree and ball low stator and rotor bonding strength of the traditional traveling wave type three-degree-of-freedom piezoelectric spherical motor, a new structure of ball-hinged piezoelectric spherical motor is proposed. Through coordinate transformation and force analysis, the driven mathematical model of the spherical motor is given. The model shows that the three degrees of freedom of the motor are coupled with each other. According to the mathematical model of the spherical motor, the mechanical properties of the motor are analyzed by the computer simulation. The results show that the stalling torque coefficient kt has a linear relationship with the friction coefficient ε and the stator preload Fc, has a nonlinear relationship with the stator radius R and the rotor radius r, and increases with the increase of R and decreases with the increase of r. The no-load speed of motor ωn is not related to the friction coefficient ε and the stator preload Fc, and increases with the increase of R and decreases with the increase of r. The anisotropic characteristics of torque and speed of a spherical motor are further analyzed, which lays a theoretical foundation for the drive control of a spherical motor.

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Section: Driving Mathematical Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Model and Property Analysis for a Ball-Hinged Three-Degree-of-Freedom Piezoelectric Spherical Motor

Wang,

Li,

Liu

et al. 2024

Sensors

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show abstract

“…In the previous study [12], two types of ring and spiral types have been proposed as stator shapes of spherical ultrasonic motor using wire stators as shown in Fig. 3.…”

Section: Shape Of Wire Statormentioning

confidence: 99%

“…Two degree of freedom drive of spherical ultrasonic motor using wire stators is made by synthesizing the driving forces of two sets of axes when the waveguide is connected vertically to the vibration source. In the previous study [12], the rotational direction is controlled in eight directions by synthesizing the driving forces of forward rotation and reverse rotation with the same size. The rotational direction of the eight directions by synthesizing the driving forces is shown in Fig.…”

Section: Application Of Pwm Control On Spherical Ultrasonic Motormentioning

confidence: 99%

Development of miniature spherical ultrasonic motor using wire stators

Wang¹,

Nishizawa²,

Tanaka³

et al. 2018

J. vibroeng.

Self Cite

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The purpose of this study is to develop a miniature motor for directional adjustment of a vascular endoscopic camera. Spherical ultrasonic motor not affected by magnetic fields is used in the miniature motor. The characteristic of spherical ultrasonic motor is that one motor has multi degree of freedom in rotational direction. Wire is used as stator to realize miniaturization of the motor, so it is called miniature spherical ultrasonic motor using wire stators. Firstly, the pressing force between a stator and a spherical rotor is discussed, which is important for developing a miniature spherical ultrasonic motor using wire stators. As a result, it can be clarified that there is an optimum value for the pressing force. Secondly, the starting torque is investigated, which is one characteristic of the miniature spherical ultrasonic motor using wire stators. The relationship between the frequency and amplitude of the applied AC voltage and the starting torque is clarified. Finally, the control method of the rotational direction of a miniature spherical ultrasonic motor using wire stators is discussed. A PWM control method is proposed to control the rotational direction of an ultrasonic motor. In this PWM control, traveling wave and standing wave generated on a wire stator are used. Experimental results show that the proposed method is effective.

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“…Some advantages of ultrasonic motors are as follows: (1) high positioning accuracy, (2) short responding time, (3) noiseless performance, (4) high energy density, (5) simple structure, (6) high efficiency in strong magnetic fields, and (7) low power consumption 8 – 13 . The advantages have made ultrasonic motors a proper choice for many applications such as precise positioning, robot joints 14 , the inspection of limited-access pipes 15 , and medical applications for tiny mechanisms 16 , especially in diagnostic methods such as angioscopy, in which a spherical ultrasonic micro-motor is used to move the camera in any direction for physicians to see inside the blood vessels 17 – 19 . Various designs have been proposed for SUSMs, each of which has specific advantages and disadvantages regarding their potential applications and expected performance.…”

Section: Introductionmentioning

confidence: 99%

A novel spherical ultrasonic motor with wire stators and measuring torque and preload via a new method

Jahantab,

Hojjat,

Ghavami Namin

et al. 2023

Sci Rep

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The present study introduces a multi-degree-of-freedom (MDOF) ultrasonic motor, which is capable of driving a spherical rotor using spiral wire stators and a piezoelectric stack actuator. Wire stators and piezoelectric stack actuators enable the proposed motor to be smaller and simpler, lower in power consumption, and have different modes at different frequencies. In this motor, two wire stators are used to drive the spherical rotor and rotate it in different directions. The eigenfrequency and frequency domain analyses were carried out using the finite element method (FEM) to evaluate the MDOF capability of the motor in different vibration modes. It has been demonstrated that the piezoelectric stack actuator can provide MDOF motions through its vibration modes. The resonant frequency obtained by the frequency domain approach agreed with the impedance analyzer test. Rotational speed, torque, and preload force were experimentally investigated. Using shear stress caused by viscous fluid in contact with the spherical rotor, a new torque calculation method was developed. Based on the buoyancy force exerted on the immersed rotor, the preload force was measured. The experimental results indicated that the maximum rotational speed of the spherical rotor was 306 rpm, and the maximum torque was 4.7 μN m.

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Micro spherical ultrasonic motor using single spiral wire stators

Cited by 4 publications

References 4 publications

Model and Property Analysis for a Ball-Hinged Three-Degree-of-Freedom Piezoelectric Spherical Motor

Model and Property Analysis for a Ball-Hinged Three-Degree-of-Freedom Piezoelectric Spherical Motor

Development of miniature spherical ultrasonic motor using wire stators

A novel spherical ultrasonic motor with wire stators and measuring torque and preload via a new method

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