Study on spherical stator for multidegree-of-freedom ultrasonic motor
Study on spherical stator for multidegree-of-freedom ultrasonic motor
复制标题
DOI：
10.7567/jjap.55.07ke18
复制
发表时间：
2016-06
影响因子：
1.5
通讯作者：
S. Nakajima;H. Kajiwara;M. Aoyagi;H. Tamura;T. Takano
中科院分区：
文献类型：
--
作者：
S. Nakajima;H. Kajiwara;M. Aoyagi;H. Tamura;T. Takano
多自由度超声电机（MDOF- usm）与其他类型的多自由度超声电机相比，具有低速大转矩和自保持力等优点。因此，MDOF-USM已被考虑应用于机器人关节、多维系统和航天器。在以往的研究中，主要研究的是由球形转子和各种形状的定子组成的MDOF-USM。相反，本文提出了由球形定子和各种形状的转子组成的MDOF-USM。研究了利用压电片和多层压电作动器激发振型和振型旋转的方法。在此基础上，设计了一种对球的振动影响不大的定子支撑方法。通过制造的定子样机的实验结果，验证了振动模态和模态旋转的产生。因此，指出了采用球面定子实现MDOF-USM的可能性。
A multidegree-of-freedom ultrasonic motor (MDOF-USM) has excellent features such as high torque at a low speed and a self-holding force, compared with other types of MDOF motor. Therefore, the MDOF-USM has been considered for applications in robot joints, multidimensional systems, and spacecraft. In previous research, the MDOF-USM consisting of a spherical rotor and a stator vibrator of various shapes has been mainly studied. In contrast, the MDOF-USM consisting of a spherical stator and a rotor of various shapes is proposed in this paper. The excitation methods for vibration modes and mode rotation using piezoelectric plates and multilayered piezoelectric actuators were examined. Furthermore, a stator support method that does not significantly affect the vibration of the sphere was devised. From the results of experiments using the fabricated prototype stator, the generation of vibration mode and mode rotation were confirmed. Therefore, the possibility of the realization of the MDOF-USM using a spherical stator was indicated.