Torque characteristics analysis of a traveling wave type ultrasonic motor impressed high load torque in low speed range

Yoichi Ogahara, Takashi Maeno

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

6 Citations (Scopus)

Abstract

As an alternative to an electromagnetic motor, a rotary traveling wave type ultrasonic motor (USM) has been attracted considerable attention. The rotary traveling wave type is more commonly used in industrial applications. In this paper, the USM impressed high load torque in low speed range is modeled using an equivalent circuit and a new torque control method is proposed to implement for a robot manipulator. Firstly, the USM is modeled using the equivalent circuit based on a piezoelectric equation and a mechanical model. In mechanical approach, the ratio of vibration speed of the vibrator to rotational speed of the rotor is assumed as 1: n, where n is a smaller variable than 1. According to this proposed equivalent circuit, if vibration amplitude of the vibrator is constant, output torque is proportional to voltage magnitude applied to piezoelectric ceramics and rotational speed of the rotor. Secondly, three parameters of two sinusoidal voltages: frequency, magnitude and phase difference are determined to control output torque. Finally, an experiment is conducted to verify the equivalent circuit model. Experimental results show that output torque of the USM is proportional to applied voltage magnitude. Therefore, the proposed model is shown to be valid and will be applied to robot manipulators.

Original languageEnglish
Title of host publicationProceedings - IEEE Ultrasonics Symposium
EditorsM.P. Yuhas
Pages2271-2274
Number of pages4
Volume3
DOIs
Publication statusPublished - 2004
Event2004 IEEE Ultrasonics Symposium - Montreal, Que., Canada
Duration: 2004 Aug 232004 Aug 27

Other

Other2004 IEEE Ultrasonics Symposium
CountryCanada
CityMontreal, Que.
Period04/8/2304/8/27

Fingerprint

Loads (forces)
Torque
Equivalent circuits
Ultrasonics
Vibrators
Vibrations (mechanical)
Manipulators
Electric potential
Rotors
Robots
Piezoelectric ceramics
Torque control
Industrial applications
Experiments

Keywords

  • Equivalent circuit
  • Torque control
  • Traveling wave type
  • Ultrasonic motor
  • Vibration amplitude

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Ogahara, Y., & Maeno, T. (2004). Torque characteristics analysis of a traveling wave type ultrasonic motor impressed high load torque in low speed range. In M. P. Yuhas (Ed.), Proceedings - IEEE Ultrasonics Symposium (Vol. 3, pp. 2271-2274). [P3U-U-12] https://doi.org/10.1109/ULTSYM.2004.1418293

Torque characteristics analysis of a traveling wave type ultrasonic motor impressed high load torque in low speed range. / Ogahara, Yoichi; Maeno, Takashi.

Proceedings - IEEE Ultrasonics Symposium. ed. / M.P. Yuhas. Vol. 3 2004. p. 2271-2274 P3U-U-12.

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

Ogahara, Y & Maeno, T 2004, Torque characteristics analysis of a traveling wave type ultrasonic motor impressed high load torque in low speed range. in MP Yuhas (ed.), Proceedings - IEEE Ultrasonics Symposium. vol. 3, P3U-U-12, pp. 2271-2274, 2004 IEEE Ultrasonics Symposium, Montreal, Que., Canada, 04/8/23. https://doi.org/10.1109/ULTSYM.2004.1418293
Ogahara, Yoichi ; Maeno, Takashi. / Torque characteristics analysis of a traveling wave type ultrasonic motor impressed high load torque in low speed range. Proceedings - IEEE Ultrasonics Symposium. editor / M.P. Yuhas. Vol. 3 2004. pp. 2271-2274
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