Smart manipulator actuated by Ultra-Sonic Motors for lunar exploration

Kubota, Takashi; Tada, Kouhei; Kunii, Yasuharu

doi:10.1109/robot.2008.4543758

Cited by 9 publications

(3 citation statements)

References 7 publications

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“…There are numerous merits of USMs over electromagnetic motors, including low speed with high torque, a quick response, a wide velocity range and a high power/weight ratio [ 2 , 3 , 4 , 6 ]. The unique properties of USMs make it have a bright application prospect in extreme environments, such as space exploration [ 7 , 8 ]. A lot of research reports, mainly focusing on the application of USMs with ambient temperature changes and under vacuum, have been released [ 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 ].…”

Section: Introductionmentioning

confidence: 99%

Performance Analysis of a Travelling-Wave Ultrasonic Motor under Impact Load

Huang

Sun

2020

Micromachines

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With the increased application of ultrasonic motors, it is necessary to put forward higher demand for the adaptability to environment. Impact, as a type of extreme environment, is widespread in weapon systems, machinery and aerospace. However, there are few reports about the influence of impact on an ultrasonic motor. This article aimed to study the reasons for the performance degradation and failure mechanism of an ultrasonic motor in a shock environment. First, a finite element model is established to observe the dynamic response of ultrasonic motor in a shock environment. Meanwhile, the reasons of the performance degradation in the motor are discussed. An impact experiment is carried out to test the influence of impact on an ultrasonic motor, including the influence on the mechanical characteristic of an ultrasonic motor and the vibration characteristic of a stator. In addition, the protection effect of rubber on an ultrasonic motor in a shock environment is verified via an experimental method. This article reveals the failure mechanism of ultrasonic motors in a shock environment and provides a basis for the improvement of the anti-impact property of ultrasonic motors.

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Section: Introductionmentioning

confidence: 99%

Performance Analysis of a Travelling-Wave Ultrasonic Motor under Impact Load

Huang

Sun

2020

Micromachines

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“…Piezoelectric motors have attracted numerous attentions due to their superior merits over electromagnetic motors such as simple/compact structure, self-locking when power off, low speed with high torque, quick response, and quiet operation (Jian et al, 2017;Liu et al, 2018Liu et al, , 2019Lv et al, 2017). These advantages make them competitive candidates not only for conventional fields including micro-robot (Shen et al, 2017), medical instruments (Liang et al, 2018), and nanopositioning stages (Lee and Lee, 2015) but also for special field such as space exploration (He et al, 2014;Kubota et al, 2008) and weapon system (Diwiny et al, 2014;Tang et al, 2017). The performance of piezoelectric motor in extreme environment is one of prior problems needed to be solved before applied.…”

Section: Introductionmentioning

confidence: 99%

Concept and experimental validation of piezoelectric motor–based acceleration sensor in shock environment

Sun

Tang

Wang

et al. 2019

Journal of Intelligent Material Systems and Structures

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In traveling-wave rotary piezoelectric motor, the ring-shaped piezoelectric sheet is divided into three parts: group A, group B, and single-electrode. Single-electrode offers auto frequency tracking signal to maintain speed stability of motor in traditional applications. In ammunition system, it is necessary to identify the launching environment and service processing environment with sensors. During the process of applying ultrasonic motor to ammunition system, a novel concept that single-electrode can be used as acceleration sensor is proposed. The theoretical analysis and experimental verification of this concept are carried out in this article. The theory shows the charge Q in single-electrode is proportional to the amplitude of acceleration when the frequency of acceleration is much less than the resonance frequency of stator. Theoretical and experimental results also indicate that there are interference signals from single-electrode in shock environment. So a conditioning circuit is designed to eliminate useless signal. Calibration experiment results show that single-electrode has a good linear output characteristic in shock environment, which proves the feasibility of single-electrode acceleration sensor. The sensitivities of single-electrodes in two tested stators are 4.5 and 3.88 mV/g respectively. The research achievements realize the function expansion of single-electrode and promote the application of piezoelectric motor in shock environment.

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“…An emerging actuation technology of ultrasonic motors, which are compact and light motors having many advantages, is a candidate technology for rover vehicles [5,6]. The motors have high torque density at low speed, high holding torque, simple construction, and quick response, and can be made in many shapes, including annular, bar, disk and irregular shapes [7][8][9].…”

mentioning

confidence: 99%

A piezoelectric tracked vehicle with potential application to planetary exploration

Jin

Yang

et al. 2012

Chin. Sci. Bull.

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A piezoelectric driving method for rover vehicles is proposed in this paper. Employing this method, a tracked vehicle driven by friction forces from a frame mounted with piezoelectric elements was developed. The vehicle is designed with no driver sprocket, no idler-wheel and no supporting bogie wheels, and the vehicle thus requires no lubrication and has potential application in planetary exploration. The frame consists of a pair of piezoelectric transducers. Each transducer comprises four annular parts jointed by beams adhered with piezoelectric ceramics. The tracks are set to the outer surface of the annular parts by means of track tension. Traveling rotating waves are generated by piezoelectric transducers in the annular parts, which generate microscopic elliptical motions at the interface of the tracks. The microscopic elliptical motions from the piezoelectric transducers drive the track vehicle to move. Finite elements analysis was carried out to verify the operation principle using commercial software ANSYS. Piezoelectric transducers were fabricated, assembled and tested to validate the concepts of the proposed rover vehicle and confirm the simulation results. A prototype vehicle with mass of 0.57 kg moves at a speed of 4.3 mm/s at a driving voltage of 250 V and operating frequency of 65.53 kHz. Robotic exploration of the lunar surface will provide important scientific data on climate, life history, and geologic resources. Landers and rovers for lunar exploration have been researched in recent decades. The main aim of research into lunar robotics exploration is to demonstrate technologies suitable for exploration of the lunar surface, including driving technologies for rover vehicles. Efficient rover vehicles that are compact, lightweight and consume little power are needed to meet the needs of lunar missions [1]. Five classes of locomotion systems are applicable to lunar/planetary exploration rovers: wheel, track, leg, bodyarticulation, and non-contact locomotion systems [2]. The chief advantage of legged robots is that they only need to overcome compaction resistance at the point of contact while wheeled and tracked robots that are considerably more complex than algorithms for wheeled and tracked systems. Among the above mentioned types of mobility system, wheeled and tracked systems have been considered the main candidates for planetary exploration, especially the exploration of Mars, in recent decades wide applications on Earth.The tracked (or caterpillar) concept is promising in that it offers low maximum ground pressure to promote vehicle performance (especially in the case of military vehicles) [3]. Tracks are generally preferred for general off-road applications as they offer low vehicle sinkage and thus low resistance to motion. Tracked vehicles have similar properties to wheeled vehicles and are generally favored for their higher tractional effort over more rugged terrain as they spread the load over a much wider area; a tracked vehicle will almost invariably offer greater drawbar pull than a fou...

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Smart manipulator actuated by Ultra-Sonic Motors for lunar exploration

Cited by 9 publications

References 7 publications

Performance Analysis of a Travelling-Wave Ultrasonic Motor under Impact Load

Performance Analysis of a Travelling-Wave Ultrasonic Motor under Impact Load

Concept and experimental validation of piezoelectric motor–based acceleration sensor in shock environment

A piezoelectric tracked vehicle with potential application to planetary exploration

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