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

本研究开发了用于高真空空间和球面超声电机的机械臂。由于温度的变化，超声波电机的效率会降低。因此，在真空条件下，超音速电机的温度变化很大。因此，它在提高扭矩和抑制发热方面比今年之前的球面超声电机取得了更大的成功。下面给出了一个结果。到目前为止，虽然转子使用PC，尼龙66填充30%的玻璃纤维的东西是使用的。它可以通过定子和转子的发热来实现。从而避免了定子和转子的焊接。此外，它成功地提高了约20%的扭矩。高转矩、低电压定子是新开发的定子。通过改变定子与pzt的粘接方式，最大转矩值比普通定子提高了2倍左右。而且，电压也成功地抑制了发烧，将其降低到通常60 [Vpp]的三分之一左右。它比之前的球面超声电机发热更克制，可以从上面完成高性能电机。

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.