Novel Multi-DOF ring-shaped standing-wave type ultrasonic motor
ZHANG Jian-tao1; JIN Jia-mei2; ZHAO Chun-sheng2
1. School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China;2. Precision Driving Laboratory, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China
Abstract：A novel multi-DOF ring-shaped standing-wave type ultrasonic motor is proposed. It is composed of a spherical rotor and a ring-shaped stator. The motor using the second in-plane vibration mode can rotate in three directions. In this paper, the motor operation and driving mechanism is analyzed in detail. A prototype motor is fabricated according to results of finite element design. The motor, whose stator is 25.7 mm (length) × 25.6 mm (width) × 25.7 mm (height), operates at 26.76 kHz. The rotational speeds in three directions are 12r/min、10 r/min and 12r/min respectively. The motor have the advantages of small volume, simple and compact structure, avoiding considering the frequency consistency of different modes of composite mode ultrasonic motors. It may find applications in various fields: small robots, robot eyes, robot hands, attitude adjustment of mechanisms.
2011, Vol. 30 
