Development of manipulator using a spherical surface ultrasonic motor for the space and the high vacuum

空间及高真空用球面超声波电机机械手的开发

• 批准号: 09650287
• 负责人: TOYAMA Shigeki
• 金额: $ 1.66万
• 依托单位: Tokyo Noko University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09650287/
• 关键词: a spherical surface ultrasonic motor; a robot arm for the space; 超音波モータ; 宇宙用アーム; 球面モータ

This research develops the robot arm which space and spherical surface ultrasonic motors for the high vacuum were used for. An ultrasonic motor makes efficiency bad due to a change in temperature. Therefore, a change in temperature of the supersonic motor becomes big under the vacuum condition. So, it succeeded in the, improvement of the torque and restraining a fever further more than the spherical surface ultrasonic motor until before in this year. A result is given to it in the following.1. So far, though rotor used PC, the thing that nylon 66 was filled with the fiberglass 30% was used. It could be done low by a fever of stator and rotor. So, welding of stator and rotor could be prevented. Furthermore, it succeeded in improving about 20% of the torque.2. Stator of the high torque, the low voltage was developed newly. The highest torque value improved more than usual stator to about two times by changing the way that the form of stator and a pzt stuck. And, a voltage succeeded in restraining a fever by lowering it to about 1/3 of usual 60 [Vpp], too. It had a fever restrained more than the spherical surface ultrasonic motor until before, and it could complete a high-performance motor from the above.

本研究开发了用于高真空空间和球面超声电机的机械臂。超声波马达由于温度的变化而使效率变差。因此，在真空条件下，超音速电机的温度变化变得很大。因此，它在扭矩的改善和抑制发热方面比球面超声波电机在今年更成功。其结果如下所示。到目前为止，虽然转子使用的是PC，但使用的是尼龙66填充30%玻璃纤维的东西。它可以通过定子和转子的发烧来降低。因此，可以防止定子和转子的焊接。此外，它还成功地提高了大约20%的扭矩。高扭矩、低电压定子是新开发的。通过改变定子和PZT的粘接方式，最大扭矩值比通常的定子提高了两倍左右。而且，通过将电压降低到通常60[VPP]的三分之一左右，电压也成功地抑制了发烧。它比以前的球面超声波电机抑制了更多的发热，可以完成高性能的电机。

项目成果

N.FUKAYA, S.TOYAMA and T.SEKI: "Development of an artificial arm by use of spherical ultrasonic motor" Proc.of The 29^<th> International Symposium on Robotics, 1998.

N.FUKAYA、S.TOYAMA 和 T.SEKI：“使用球形超声波电机开发人工手臂”Proc.of The 29^<th>International Symposium on Robotics，1998。

遠山 茂樹: "Development of Advanced Multi degree of freedom Spherical Ultrasonic Motor" Proc.of MECATRONICS′96-Besancon. 2. 878-882 (1996)

Shigeki Toyama：“先进多自由度球形超声波电机的开发”Proc.of MECATRONICS96-Besancon。 2. 878-882 (1996)

N.FUKAYA,S.TOYAMA and T.SEKI: "Development of an artificial arm by use of spherical ultrasonic motor" Proc.of The 29^<th> International Symposium on Robotics. (1998)

N.FUKAYA、S.TOYAMA 和 T.SEKI：“利用球形超声波电机开发人工手臂”第 29 届国际机器人研讨会论文集。

N.FUKAYA,S.TOYAMA and T.SEKI: "“Development of an artifical arm by use of spherical ultrasonic motor"" Proc.of The 29^<th> International Symposium on Robotics,1998.

N.FUKAYA、S.TOYAMA 和 T.SEKI：““利用球形超声波电机开发人工手臂””Proc.of The 29^<th>International Symposium on Robotics，1998。