TY - GEN
T1 - Design of a plate type multi-DOF ultrasonic motor and its driving characteristics
AU - Takemura, K.
AU - Ohno, Y.
AU - Maeno, T.
PY - 2003/1/1
Y1 - 2003/1/1
N2 - Multi-DOF actuators have become more useful in the field of robotics, thanks to the increasing number of DOFs of systems. General features of ultrasonic motor are suitable for constructing a direct-drive multi-DOF actuator. However, those previously developed do not have advantages in volume and weight against the multi-DOF motion unit composed of several electromagnetic motors. In the present study authors develop a novel multi-DOF ultrasonic motor with a plate stator and a spherical rotor. First, a new driving principle of the motor is proposed. Next, the stator geometry is designed in detail using finite element method, and the prototype of the multi-DOF ultrasonic motor with plate stator is produced. The stator is relatively compact against the rotor. Then, vibration characteristics of the stator and driving characteristics of the motor have been measured, respectively. The result confirms that the motor successfully provides the multi-DOF motion of rotor around orthogonal axes by single plate stator. Finally, self-oscillation driving circuit for the motor is proposed.
AB - Multi-DOF actuators have become more useful in the field of robotics, thanks to the increasing number of DOFs of systems. General features of ultrasonic motor are suitable for constructing a direct-drive multi-DOF actuator. However, those previously developed do not have advantages in volume and weight against the multi-DOF motion unit composed of several electromagnetic motors. In the present study authors develop a novel multi-DOF ultrasonic motor with a plate stator and a spherical rotor. First, a new driving principle of the motor is proposed. Next, the stator geometry is designed in detail using finite element method, and the prototype of the multi-DOF ultrasonic motor with plate stator is produced. The stator is relatively compact against the rotor. Then, vibration characteristics of the stator and driving characteristics of the motor have been measured, respectively. The result confirms that the motor successfully provides the multi-DOF motion of rotor around orthogonal axes by single plate stator. Finally, self-oscillation driving circuit for the motor is proposed.
KW - Actuators
KW - Circuits
KW - Finite element methods
KW - Geometry
KW - Prototypes
KW - Robots
KW - Rotors
KW - Stators
KW - Ultrasonic variables measurement
KW - Vibration measurement
UR - http://www.scopus.com/inward/record.url?scp=33751104315&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33751104315&partnerID=8YFLogxK
U2 - 10.1109/AIM.2003.1225532
DO - 10.1109/AIM.2003.1225532
M3 - Conference contribution
AN - SCOPUS:33751104315
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1309
EP - 1314
BT - Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
Y2 - 20 July 2003 through 24 July 2003
ER -