Development of Ultrasonic Motors using Longitudinal and Bending Natural Vibration for Multi-Degrees of Freedom Motion.
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- Maeno Takashi
- Faculty of Science and Engineering, Keio University
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- Takemura Kenjiro
- Graduate School of Science and Engineering, Keio University
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- Kojima Nobuyuki
- Canon, Inc.
Bibliographic Information
- Other Title
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- 縦振動と横振動の縮退に基づく多自由度超音波モータの開発
- タテ シンドウ ト ヨコ シンドウ ノ シュクタイ ニ モトズク タジユウド
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Abstract
Small and precise actuators for multi-degrees of freedom (DOF) motion is needed to construct a dexterous robot arms and manipulators. Ultrasonic motors are suitable for the multi-DOF actuation of the robot arms and manipulators because of its characteristics such as its output power per unit volume, high stationary limiting torque, high maximum operating torque, simple design, silence, and high controllability. In this study we develop a three-DOF ultrasonic motor. It is found that the three-DOF ultrasonic motor can be constructed when natural frequencies of two second bending modes and a first longitudinal mode of a bar-shaped stator correspond. A spherical rotor in contact with the stator head rotates around three perpendicular axes. Geometry and structure of the ultrasonic motor in detail is determined using finite element analysis. Measured natural frequencies and natural modes of bending and longitudinal vibrations of the stator agree well with calculated ones. The rotational speed of the spherical rotor around three perpendicular axes are measured.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 16 (8), 1115-1122, 1998
The Robotics Society of Japan
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Details
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- CRID
- 1390001204724697856
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- NII Article ID
- 10002865064
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 4604019
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed