Research of a Spherical Motor with Three-Degree-of-Freedom Driven by Ultrasonic Linear Actuators.
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- KAWAI Motoyoshi
- 学生会員東京工業大学大学院総合理工学研究科
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- HAYASHI Iwao
- 正会員東京工業大学精密工学研究所
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- IWATSUKI Nobuyuki
- 正会員東京工業大学精密工学研究所
Bibliographic Information
- Other Title
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- 超音波リニアアクチュエータを用いた三自由度球面モータの研究
- チョウオンパ リニア アクチュエータ オ モチイタ 3 ジユウド キュウメン
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Abstract
To realize an actuator with many degrees of freedom which moves like a human wrist, a spherical motor with three-degree-of-freedom is tried, the spherical body of which is driven by ultrasonic linear actuators, and consequently, the spherical motor has no limitation on the position of its rotational axis in principle, and can rotate around an arbitrary spatial axis at an arbitrary speed. The spherical body of the motor is a steel bearing ball of 76.2mm in diameter. The six ultrasonic linear actuators are placed at every sixty degrees on the horizontal outer circumference of the ball; a pair of two actuators lying symmetrically regarding the center of the ball induce a rotational torque. In an experiment the ball rotated around the vertical z-axis at 15rpm, and also rotated around other spatial axes adjusting the outputs of the three pairs of actuator.
Journal
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- Journal of the Japan Society for Precision Engineering
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Journal of the Japan Society for Precision Engineering 59 (3), 405-410, 1993
The Japan Society for Precision Engineering
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Details 詳細情報について
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- CRID
- 1390001204765560704
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- NII Article ID
- 110001371308
- 10007547175
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- NII Book ID
- AN1003250X
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- ISSN
- 1882675X
- 09120289
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- NDL BIB ID
- 3803365
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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