Abstract
The importance of generating a multi-degrees of freedom (DOF) motion is increasingly growing in order to develop dexterous robots. Authors developed a bar-shaped ultrasonic motor capable of generating a multi-DOF motion. The multi-DOF ultrasonic motor consists of a bar-shaped stator and a spherical rotor. The spherical rotor is rotated around three perpendicular axes by the three natural vibrations excited on the stator. In the present study, the driving and control characteristics around one driving axis, which is perpendicular to the stator's geometric axis, are measured in detail. Namely, the relationship between the frequency of the input signal and the rotational speed, the relationship between the torque and the rotational speed and the step response of the ultrasonic motor are measured. The maximum rotational speed and the maximum torque are 183 rpm and 5 mNm, respectively. The rotational speed is controlled successfully.
| Original language | English |
|---|---|
| Pages (from-to) | 3660-3665 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 4 |
| Publication status | Published - 2000 |
| Event | ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA Duration: 2000 Apr 24 → 2000 Apr 28 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering