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

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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.