Direct Drive and Vibration Analysis of Ultrasonic Motor for Robot Hand

机械手超声波电机直接驱动及振动分析

基本信息

批准号：
16560232
负责人：
NISHIBORI Kenji
金额：
$ 2.37万
依托单位：
Daido Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2004
资助国家：
日本
起止时间：
2004 至 2005
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-16560232/
关键词：
Mechatronics and Robotics Vibration Analysis Ultrasonic Motor Single-Phase Drive Separation of Degeneration Piezoelectric Element Traveling Wave Direct Drive

项目摘要

Ultrasonic motors (USMs) have many excellent features compared to the electric-magnetic motors, such as simple structure without coils, a quick response, and high torque at low speed, etc. These advantages of USM are, therefore, very hopeful for robot manipulators to be downsized and light weighted.This research proposes a technique for a cylinder-shaped ultrasonic motor (USM) to be driven by a single-phase electric source. The state of vibration was examined from both the theoretical and the experimental aspects. The following conclusions are summarized from the experiments and the discussions.(1)The proposed arrangement of the electrodes enables the cylinder-shaped USM to be driven by a single-phase electric power source. An ingenious arrangement of the inside and outside electrodes produces the extensional vibration that includes not only the standing wave but also the traveling wave.(2)The extensional vibration of the USM under single-phase drive is composed of the standing and the traveling waves, that have two wavelengths on the circumference. Vibrating surface consists in the combination of standing wave and traveling wave.(3)The rotor in contact with the stator at two crests of the wave rotates resulting from the cooperation of both wave types. This moving mechanism can be explained by the separation of the degeneration mode by a perturbation.(4)The vibration of the USM under single-phase drive can be explained consistently by superimposing two vibration modes with azimuthal lag of π/4 and with the phase lag of π/8,which are produced by the electrodes on both inner and outer sides of the cylinder.(5)The torque characteristic by single-phase drive is similar to one by the conventional driving method.The possibility of single-phase drive would promise the robot manipulators that employ the USM to be downsized and light weighted in near future.

Ultrasonic motors (USMs) have many excellent features compared to the electric-magnetic motors, such as simple structure without coils, a quick response, and high torque at low speed, etc. These advantages of USM are, therefore, very hopeful for robot manipulators to be downsized and light weighted.This research proposals a technique for a cylinder-shaped ultrasonic motor (USM) to be driven by a single-phase electric source.从理论和实验方面都检查了振动状态。从实验和讨论中总结了以下结论。（1）电子设备的拟议排列使缸形USM能够由单相电力源驱动。内部和外部电子的巧妙排列会产生延伸的振动，不仅包括驻波，还包括行驶波。（2）单相驱动器下USM的延伸振动是由站立和行进波组成的，它们在周长上具有两个波长。振动表面由站立波和行驶波的组合组合。（3）与定子接触的转子在两种波浪的合作中导致波峰的两个波峰。可以通过扰动将变性模式的分离来解释。（4）单相驱动器下USM的振动可以通过将两个振动模式叠加为π/4的空调延迟，并通过π/8的相位延伸的相位延伸，而单个和cylinder cylinder cylinder（cylinder）的相位延迟（cy/8的相位延迟）。与传统驾驶方法相似，单相驱动器的可能性将承诺在不久的将来使用USM缩小尺寸并轻巧的机器人操纵器。