Numerical analyses on multi-DOF ultrasonic motor - Development of analysis method and results

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

1 Citation (Scopus)

Abstract

A multi-DOF ultrasonic motor developed in our previous study has significant potentials for dexterous actuation. The ultrasonic motor provides multi-DOF rotation of a spherical rotor using three natural vibrations of a bar-shaped stator. In this paper, numerical analyses on the multi-DOF ultrasonic motor are conducted. First, a forward model of multi-DOF ultrasonic motor is developed considering the frictional condition between the rotor/stator. Using the forward model, driving state of the multi-DOF ultrasonic motor under arbitrary combination of vibrations is clarified. Second, an inverse model of the multi-DOF ultrasonic motor is also developed. The inverse model is constructed using experienced knowledge about ultrasonic motor and neural network technique. An appropriate input for the multi-DOF ultrasonic motor with regard to arbitrary rotational axis is estimated using the inverse model. The proposed models are available not only for our motor but for all multi-DOF ultrasonic motors.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2387-2392
Number of pages6
Volume3
Publication statusPublished - 2002
Event2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States
Duration: 2002 May 112002 May 15

Other

Other2002 IEEE International Conference on Robotics adn Automation
CountryUnited States
CityWashington, DC
Period02/5/1102/5/15

Fingerprint

Ultrasonics
Stators
Rotors
Vibrations (mechanical)
Neural networks

Keywords

  • Multi-DOF
  • Neural network
  • Simulation
  • Ultrasonic motor

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Takemura, K., & Maeno, T. (2002). Numerical analyses on multi-DOF ultrasonic motor - Development of analysis method and results. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 2387-2392)

Numerical analyses on multi-DOF ultrasonic motor - Development of analysis method and results. / Takemura, Kenjiro; Maeno, Takashi.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 2002. p. 2387-2392.

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

Takemura, K & Maeno, T 2002, Numerical analyses on multi-DOF ultrasonic motor - Development of analysis method and results. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 3, pp. 2387-2392, 2002 IEEE International Conference on Robotics adn Automation, Washington, DC, United States, 02/5/11.
Takemura K, Maeno T. Numerical analyses on multi-DOF ultrasonic motor - Development of analysis method and results. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3. 2002. p. 2387-2392
Takemura, Kenjiro ; Maeno, Takashi. / Numerical analyses on multi-DOF ultrasonic motor - Development of analysis method and results. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 2002. pp. 2387-2392
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