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

本研究以高真空用空间及球面超音波马达为驱动元件，研制出机械手臂。超声波马达由于温度变化而使效率变差。因此，在真空条件下，超声波电机的温度变化变大。因此，它成功地，提高了扭矩和抑制发烧进一步超过球面超声波电机直到今年之前。结果如下：1.到目前为止，虽然转子使用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发热来降低。因此，可以防止定子和转子的焊接。此外，它成功地提高了约20%的扭矩.新开发的高转矩、低电压定子。通过改变定子和压电陶瓷卡接方式，最高转矩值比普通定子提高了两倍左右。而且，电压也成功地抑制了发烧，将其降低到通常60 [Vpp]的约1/3。它比以前的球面超声波电机更能抑制发热，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.