TY - JOUR
T1 - Design of a plate type multi-DOF ultrasonic motor and its self-oscillation driving circuit
AU - Takemura, K.
AU - Ohno, Y.
AU - Maeno, T.
N1 - Funding Information:
Manuscript received January 15, 2004; revised June 15, 2004. This work was supported in part by a Grant-in-Aid for Encouragement of Young Scientists from the Ministry of Education, Culture, Sports, Science and Technology of Japan under (B)15760093, and in part by Canon Incorporated, Japan. K. Takemura is with Precision and Intelligence Laboratory, Tokyo Institute of Technology, Yokohama, 226-8503 Japan (e-mail: takemura@pi.titech.ac.jp). Y. Ohno was with Keio University, Yokohama, Japan. He is now with the Toshiba Carrier Corporation, Shizuoka, 416-8521 Japan (e-mail: yuuji.oono@glb.toshiba.co.jp). T. Maeno is with the Department of Mechanical Engineering, Keio University, Yokohama, 223-8522 Japan (e-mail: maeno@mech.keio.ac.jp). Digital Object Identifier 10.1109/TMECH.2004.834643
PY - 2004/9
Y1 - 2004/9
N2 - Multi-degrees-of-freedom (DOF) actuators have become more useful in the field of robotics, as a result of the increasing number of DOFs of systems. The general features of ultrasonic motors are suitable for constructing a direct-drive multi-DOF actuator. However, previously developed ultrasonic motors do not have advantages in volume and weight in contrast to multi-DOF motion units composed of plural electromagnetic motors. In the present study, authors developed a novel multi-DOF ultrasonic motor with a compact plate stator and spherical rotor. First, a new driving principle of the motor is proposed. Next, the stator geometry is designed in detail using the finite element method, and a prototype of the multi-DOF ultrasonic motor is produced. Then, vibration characteristics of the stator and driving characteristics of the motor have been measured, respectively. The results confirm that the motor successfully provides the desired multi-DOF motion of the rotor around orthogonal axes driven by a single plate stator. Finally, a novel self-oscillation driving circuit for the motor is proposed and driving tests using the circuit are conducted.
AB - Multi-degrees-of-freedom (DOF) actuators have become more useful in the field of robotics, as a result of the increasing number of DOFs of systems. The general features of ultrasonic motors are suitable for constructing a direct-drive multi-DOF actuator. However, previously developed ultrasonic motors do not have advantages in volume and weight in contrast to multi-DOF motion units composed of plural electromagnetic motors. In the present study, authors developed a novel multi-DOF ultrasonic motor with a compact plate stator and spherical rotor. First, a new driving principle of the motor is proposed. Next, the stator geometry is designed in detail using the finite element method, and a prototype of the multi-DOF ultrasonic motor is produced. Then, vibration characteristics of the stator and driving characteristics of the motor have been measured, respectively. The results confirm that the motor successfully provides the desired multi-DOF motion of the rotor around orthogonal axes driven by a single plate stator. Finally, a novel self-oscillation driving circuit for the motor is proposed and driving tests using the circuit are conducted.
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U2 - 10.1109/TMECH.2004.834643
DO - 10.1109/TMECH.2004.834643
M3 - Article
AN - SCOPUS:4744356402
SN - 1083-4435
VL - 9
SP - 474
EP - 480
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 3
ER -