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标题：Examination of High-Torque Sandwich-Type Spherical Ultrasonic Motor Using with High-Power Multimode Annular Vibrating Stator
其他标题：Examination of High-Torque Sandwich-Type Spherical Ultrasonic Motor Using with High-Power Multimode Annular Vibrating Stator
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作者：Ai Mizuno ; Koki Oikawa , Manabu Aoyagi ; Hidekazu Kajiwara , Hideki Tamura 等
期刊名称：Actuators
电子版ISSN：2076-0825
出版年度：2018
卷号：7
期号：1
页码：8
DOI：10.3390/act7010008
出版社：MDPI Publishing
摘要：Spherical ultrasonic motors (SUSMs) that can operate with multiple degrees of freedom (MDOF) using only a single stator have high holding torque and high torque at low speed, which makes reduction gearing unnecessary. The simple structure of MDOF-SUSMs makes them useful as compact actuators, but their development is still insufficient for applications such as joints of humanoid robots and other systems that require MDOF and high torque. To increase the torque of a sandwich-type MDOF-SUSM, we have not only made the vibrating stator and spherical rotor larger but also improved the structure using three design concepts: (1) increasing the strength of all three vibration modes using multilayered piezoelectric actuators (MPAs) embedded in the stator, (2) enhancing the rigidity of the friction driving portion of the stator for transmitting more vibration force to the friction-driven rotor surface, and (3) making the support mechanism more stable. An MDOF-SUSM prototype was tested, and the maximum torques of rotation around the X(Y)-axis and Z-axis were measured as 1.48 N∙m and 2.05 N∙m, respectively. Moreover, the values for torque per unit weight of the stator were obtained as 0.87 N∙m/kg for the X(Y)-axis and 1.20 N∙m/kg for the Z-axis. These are larger than values reported for any other sandwich-type MDOF-SUSM of which we are aware. Hence, the new design concepts were shown to be effective for increasing torque. In addition, we measured the transient response and calculated the load characteristics of rotation around the rotor’s three orthogonal axes.
关键词：ultrasonic motor (USM); spherical rotor; multiple degrees of freedom (MDOF); high-power; annular vibrator; sandwich; multilayer piezoelectric actuator (MPA) ultrasonic motor (USM) ; spherical rotor ; multiple degrees of freedom (MDOF) ; high-power ; annular vibrator ; sandwich ; multilayer piezoelectric actuator (MPA)