Characteristics of an ultrasonic motor capable of generating a multi-degrees of freedom motion

Research output: Contribution to journalConference article

23 Citations (Scopus)

Abstract

The importance of generating a multi-degrees of freedom (DOF) motion is increasingly growing in order to develop dexterous robots. Authors developed a bar-shaped ultrasonic motor capable of generating a multi-DOF motion. The multi-DOF ultrasonic motor consists of a bar-shaped stator and a spherical rotor. The spherical rotor is rotated around three perpendicular axes by the three natural vibrations excited on the stator. In the present study, the driving and control characteristics around one driving axis, which is perpendicular to the stator's geometric axis, are measured in detail. Namely, the relationship between the frequency of the input signal and the rotational speed, the relationship between the torque and the rotational speed and the step response of the ultrasonic motor are measured. The maximum rotational speed and the maximum torque are 183 rpm and 5 mNm, respectively. The rotational speed is controlled successfully.

Original languageEnglish
Pages (from-to)3660-3665
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume4
Publication statusPublished - 2000 Dec 3
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: 2000 Apr 242000 Apr 28

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Characteristics of an ultrasonic motor capable of generating a multi-degrees of freedom motion'. Together they form a unique fingerprint.

  • Cite this