Micro ultrasonic motor for miniature robot arm

Toyama, Shigeki; Nishizawa, Uichi

doi:10.21595/vp.2017.18999

Cited by 3 publications

(7 citation statements)

References 6 publications

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“…Xu (2021), ultrasonic motors have been widely used in a variety of electronic devices due to their compactness, load torque at moderate rotation speeds and high positioning accuracy. They are widely used in the double-quick development of robotics (Toyama & Nishizawa, 2017). The simultaneous influence of surface and couple stresses on the non-symmetrical frictionless indentation of a linearly elastic, homogenous, and isotropic half-plane under a tilted, rigid, flat-ended indenter with sharp, square corners was investigated by T.M.…”

Section: Figurementioning

confidence: 99%

“…It expressed the normal displacements under gradual loading of the half-space in terms of the normal velocities of the surface points under its instantaneous loading. The relationship (19) could be obtained from simpler considerations, based on the incremental approach. Therefore, the process of continuous loading was replaced by a step change in surface pressure at discrete moments separated from each other by a small time interval Δt.…”

Section: Figurementioning

confidence: 99%

“…The following obtained expression for normal displacements at the N-th step is as follows: When the parameter Δt was zero in expression (22), the expression (19) was used instead. In the case when a static load was applied along the radius a 0 to the surface of the half-space, two more terms would be added to the integral on the right side of (19):…”

Section: Figurementioning

confidence: 99%

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The gradual removal of Hertz pressure from the surface of elastic half-space

Kutsenko,

Kutsenko

2023

Tehnìka ta energetika

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Contact stress determination in non-stationary dynamic loading of elastic bodies is crucial for modelling structures at high speeds, but it presents mathematical challenges due to the time-dependent and often unknown contact area size and shape. The study aims to obtain an energy remainder estimation that forms waves during the contact interaction of elastic bodies, based on the exact solutions of non-stationary problems for an elastic half-space. For this purpose, the problem of the instantaneous loading half-space as an additional research problem was reconstructed using the Hankel transform concerning a radial coordinate and the Laplace transform concerning a time variable. The method of derivation of the displacements at an elastic half-space loaded (unloaded) gradually by Hertz's contact pressure has been proposed. Its availability made it possible to pass to the solution of the main problem – the problem of gradual loading of the half-space surface by Hertz pressure. The possibility of changing of the order of differentiation and integration operations in the obtained representation is substantiated based on the integrand properties. The cases when the speed of the indenter was constant when its motion was uniformly accelerated and when the motion corresponded to the law of the first quarter of the cosine period in the time were considered. It was concluded that the distribution of dynamic contact stresses is similar to the Hertz distribution. An estimation of the part of the energy spent on the formation of elastic waves was made for various laws of unloading. The practical significance of this study lies in its development of an effective method for calculating normal displacements on a loading area in dynamic contact interactions of elastic bodies, which can be valuable for modelling structures at high speeds

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Section: Figurementioning

confidence: 99%

Section: Figurementioning

confidence: 99%

Section: Figurementioning

confidence: 99%

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The gradual removal of Hertz pressure from the surface of elastic half-space

Kutsenko,

Kutsenko

2023

Tehnìka ta energetika

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“…Using smart materials (such as artificial muscles, piezoelectric materials, shape memory alloys) have advantages in miniaturized structures, reduce parts, and occasions with special requirements (such as immunity to electromagnetic interference, fine work) [19][20][21][22][23]. The piezoelectric materials mainly include piezoelectric crystals, piezoelectric ceramics (such as lead zirconate titanate, referred to as PZT), piezoelectric polymers, composite piezoelectric materials, etc [24][25][26].…”

Section: Introductionmentioning

confidence: 99%

A novel piezoelectric actuated 2-DOF joint for underwater manipulator: design, simulation, and experimental investigation

Zhang

Wang

Jin

et al. 2021

Smart Mater. Struct.

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For some underwater applications that need lightweight manipulator and fine operation, a novel piezoelectric actuated underwater mechanical manipulator two-degrees-of-freedom (2-DoF) joint was proposed and investigated in this study. The joint is composed of two unit arm sections orthogonally connected by connecting components. The inverse piezoelectric effect of the piezoelectric actuator on the unit arm section generates friction as a driving force in the contact area of the two unit arm sections, which can realize the 2-DoF rotation of the unit arm section. Due to the compatibility of the piezoelectric actuated method with the water environment, the manipulator joint adopts a simpler and more compact open structure, which does not require additional complicated waterproof sealing devices, and has the advantages of smaller size and lightweight. In addition, because the piezoelectric actuated method directly drives the unit arm section through the friction contact interface, it can achieve micro-displacement, so that the joint has the advantage of fine work. First of all, a 2-DoF joint prototype was designed, and corresponding simulations were performed to verify its working principle. Then a prototype of the proposed manipulator joint was made, its size is 125 mm × 25 mm × 25 mm and weighs 35.6 g, and experimental investigation was carried out. Finally, the experimental results show that the joint prototype can achieve motion in the air and underwater. The water environment will have a certain influence on the optimal working frequency and output performance of the joint. The proposed joint has potential application prospects in some microminiaturization and fine manipulation occasions.

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“…Xu (2021), ultrasonic motors have been widely used in a variety of electronic devices due to their compactness, load torque at moderate rotation speeds and high positioning accuracy. They are widely used in the double-quick development of robotics(Toyama & Nishizawa, 2017). The simultaneous influence of surface and couple stresses on the non-symmetrical frictionless indentation of a linearly elastic, homogenous, and isotropic half-plane under a tilted, rigid, flat-ended indenter with sharp, square corners was investigated by T.M Le et al (2021).…”

mentioning

confidence: 99%

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2023

machinery

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The relevance of developing analytical methods for studying the stability of root crop cleaners on tractors is determined by the need to improve the efficiency and quality of root crop head cleaning, as this affects the quality of the final product and its marketable properties. The research aims to increase the stability of the cleaner movement by constructing a mathematical model of its oscillatory motion in the longitudinal-vertical plane and its numerical solution to determine the influence of parameters in response to external disturbances. To achieve this goal, a new theory of the movement of a root crop head cleaner in the longitudinal-vertical plane, mounted behind a wheeled tractor, under the influence of the disturbing effect of irregularities in the longitudinal profile of the soil surface on the amplitude and phase frequency characteristics of its angular oscillations was developed. Using numerical calculations carried out on a personal computer, the conditions were found under which the stability of the cleaner's movement in the specified plane will increase when the stiffness coefficient of the pneumatic tyres of the doubler wheels is 315 kN•m -1 .• This result is achieved when the pressure in the pneumatic wheel tyres is 135 kPa. As for the damping characteristics of the doubler wheel tyres, which are determined by the coefficient μ, it was found that when it changes from 350 N•s•m -1 to 1350 N•s•m -1 , there is an invariance of the delay in the reaction of the cleaner to the disturbing effect when its frequencies change from 0 to 24 s -1 . It was also found that the influence of the geometric dimensions of the cleaner is insignificant in the range of frequencies of oscillations of the ordinates of the longitudinal profile of soil surface irregularities from 0 to 24 s -1 . This follows from the nature of changes in the obtained amplitude-frequency and phase-frequency characteristics. The methodology for constructing a mathematical model of the plane-parallel oscillatory motion of the cleaner can be used in similar analytical studies of other agricultural machines mounted on a wheeled aggregating tractor

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Micro ultrasonic motor for miniature robot arm

Cited by 3 publications

References 6 publications

The gradual removal of Hertz pressure from the surface of elastic half-space

The gradual removal of Hertz pressure from the surface of elastic half-space

A novel piezoelectric actuated 2-DOF joint for underwater manipulator: design, simulation, and experimental investigation

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