Study on Tele-scientific instruments by using Ultrasonic vibration for Lunar and Planetary exploration

在接下来的十年里，几个将无人驾驶的移动探测器送上月球或火星进行科学探索的计划正在计划之中。日本航天机构也在计划向月球发射无人科学探测器。另一方面，超声波技术为空间应用提供了新的可能性，研究和应用的发展。超声波振动可以聚焦在某一部分，产生强大的能量，可以刮走金属和岩石，可以辐射热量，可以移动物体。基本上，它的优点是超声波技术没有任何移动部件。本研究探讨了超声波技术在太空中的应用，特别是超声波驱动器和岩石科学加工仪器。此外，超声波电机(USM)作为超声执行器和振子应用于环境检测，并讨论了超声波技术在空间环境中的适应性。由于超声电机作为超声振子是所有超声波仪器的基本元件，也是机械系统的重要部件。超声波电机被应用于空间环境检测中的“热循环试验”、“辐射暴露试验”、“发射振动试验”、“真空环境试验”和“热真空环境试验”。结果表明，在热真空环境试验中，衬里材料存在一些问题。衬里材料位于转子和定子的接触面上，在高压下受到旋转力矩和维持力矩。因此，一些衬里材料的考生将接受这些测试。然而，它可以通过另一次考试，这表明了USM对空间环境的适应性。最后，研制了一种小型、轻量化的微型五自由度机械手，并对超声电机用于串联机构的有效性进行了讨论和说明。

Toward the next decade, several schemes sending an unmanned mobile explorer to the moon or Mars are being planned for scientific exploration. Japanese space agencies are also planning some missions launching unmanned scientific explorers to the moon.On the other hand, the researches, and the developments of application, for the ultrasonic technologies gives new possibility to space applications. The ultrasonic vibration can be focused on some part, and it makes strong power, which can scrape away a metal and a rock, can radiate heat, and can move objects. Basically, it is the advantage that the ultrasonic technologies don' t have any moving parts. In this research, applications in the space for the ultrasonic technologies are discussed, especially, a ultrasonic actuator, and a scientific processing instrument for a rock. Moreover, UltraSonic Motor (USM) is appliedenvironmental examinations, as an ultrasonic actuator and vibrator, and an adaptation of ultrasonic technologies for space environment is discussed. Because, USM as an ultrasonic vibrator is a basic element for all of ultrasonic instruments, and it is also an important element for a mechanical systems.USM were applied "thermal cycle test", "radiation exposure test", "launching vibration test", "vacuum environmental test" and "thermal vacuum environmental test", as space environmental examinations. As a result, it indicated some problem on a lining material at thermal vacuum environment test. A lining material is located on the contact surface between a rotor and a stator, and it is under high pressure getting a rotation torque and maintenance torque. Therefore, some candidates of lining materials are going to be examined by those tests. However, it could be passed another examinations, and it indicates adaptability of USM for space environment. Finally, a small, lightweight, micro 5DOF manipulator was developed and effectiveness of USM for serial link mechanisms were discussed and indicated.