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.

与电磁电机相比，超声波电机（USM）具有许多优异的特性，如结构简单、无线圈、响应快、低速扭矩大等。因此，USM的这些优点对于机器人机械臂来说非常有希望。本研究提出了一种由单相电源驱动的圆筒形超声波电机（USM）的技术，从理论和实验两个方面对振动状态进行了检验。从实验和讨论中总结出以下结论：(1)所提出的电极布置使得圆柱形USM能够由单相电源驱动。内部和外部电极的巧妙布置产生了。 (2)单相驱动下超声电机的延伸振动由驻波和行波组成，驻波和行波在振动表面上有两个波长。在站立的组合中(3)在波的两个波峰处与定子接触的转子由于两种波类型的配合而旋转，这种运动机制可以通过扰动分离简并模式来解释。(4) )单相驱动下USM的振动可以通过内外两侧电极产生的方位角滞后π/4和相位滞后π/8的两种振动模式的叠加来一致解释(5)单相驱动的扭矩特性与传统驱动方法相似。单相驱动的可能性将有望在不久的将来采用USM的机器人机械手实现小型化和轻量化。