A multi-degree-of-freedom ultrasonic motor using single-phase-driven vibrators

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper presents a novel type of multi degree-of-freedom ultrasonic motors. Today, in various fields, actuators having multi degrees-of-freedom is needed. In the past, many multi-degree-of-freedom actuators have been developed. However, they are all still large and heavy. Thus, we propose a miniature multi-degree-of-freedom actuator using plural single-phase-driven ultrasonic vibrators. A single-phase-driven ultrasonic motor is known for its miniaturizing facility. On the other hand, it is also known for its lack of output force. Therefore, we proposed to use plural single-phase-driven vibrators and also tried to make one vibrator generate great force. This motor has many small vibrators; each one having four patterns in the thrust direction. By controlling the frequency of each vibrator, we can obtain multiple movements of a movable object. First, we proposed the principles of this motor. Next, we selected vibration modes and designed the size of a vibrator to be 10 ×7.5 ×0.9 mm3 using finite element analysis. Finally, we measured frequency, vibration, and driving characteristics of the vibrators. The maximum thrust was about 3.14 N and the maximum torque was about 6 mN-m.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2259-2264
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: 2005 Aug 22005 Aug 6

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period05/8/205/8/6

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Keywords

  • Multi-degree-of-freedom
  • Piezoelectric actuator
  • Ultrasonic motor

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Otokawa, K., Takemura, K., & Maeno, T. (2005). A multi-degree-of-freedom ultrasonic motor using single-phase-driven vibrators. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2259-2264). [1545313] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2005.1545313