Development of an Actuator for a Robotic Manipulator with Ultrasonic Motor
Development of an Actuator for a Robotic Manipulator with Ultrasonic Motor
复制标题
超声波电机机器人机械手执行器的研制
DOI：
10.7210/jrsj.13.235
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
Yasutaro Miyatani
中科院分区：
文献类型：
--
作者：
S. Toyama;Guoqiang Zhang;Shigeru Sugitani;S. Hasegawa;Kazuhito Nakamura;Yasutaro Miyatani
对于能够执行任何人类手臂任务的智能机器人的发展来说，先进的灵巧机械操作器和执行器的创造变得越来越重要。本文介绍了一种球面超声电机，它是超声波电机在这种多自由度灵巧执行器中的应用。作为球面超声电机的原型，我们成功地研制了两种两自由度球面电机，其球体由两对超声驱动器驱动。球形超声波电机具有良好的可控性和较高的定位精度。
The creation of advanced dexterous mechanical manipulators and actuators is increasingly important for development of intelligent robots, which are capable of performing any human arm task. This paper deals with a spherical ultrasonic motor which is an application of an ultrasonic motor to such a dexterous actuator which has multi-degree of freedom. As a prototypal spherical ultrasonic motor, we have developed successfully two kinds of spherical motor with two-degree of freedom which has a spherical body driven by two pairs of ultrasonic actuator. The spherical ultrasonic motors show good controlability and high accurate positioning.