Contact model of 3-DOF ultrasonic motor considering driving and load conditions

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Journal of Vibration and Shock ›› 2021, Vol. 40 ›› Issue (3) : 172-177.

LI Zheng， ZHAO Liang， GUO Peng， YU Xuze

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Abstract

Here, a contact model of 3-stator multi-DOF ultrasonic motor considering different operational conditions was established. Firstly, the basic principle and structure of a 3-DOF ultrasonic motor were introduced and its driving torque was obtained with calculation. Then, Hertz contact theory and Mindlin theory were introduced to analyze friction case considering dynamic nonlinearity of friction coefficient and nonlinear variation of friction force distribution. A new type contact model was proposed to improve the traditional linear friction model. Finally, the friction force distribution of the motor under different motion conditions was analyzed with torque relationship and friction model, and the corresponding friction force distribution diagram was drawn with the software MATLAB. The analysis results verified the rationality of the 3-DOF ultrasonic motor. It was shown that the contact state of 3-phase piezoelectric stator is determined according to driving condition and load to lay a foundation for further optimization design and performance improvement.

Key words

multi-DOF / spherical motor / torque / contact model

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LI Zheng， ZHAO Liang， GUO Peng， YU Xuze. Contact model of 3-DOF ultrasonic motor considering driving and load conditions[J]. Journal of Vibration and Shock, 2021, 40(3): 172-177

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