single-rb.php

JRM Vol.24 No.5 pp. 876-883
doi: 10.20965/jrm.2012.p0876
(2012)

Paper:

Development of a Novel Rotor-Embedded-Type Multidegree-of-Freedom Spherical Ultrasonic Motor

Bo Lu*, Manabu Aoyagi*, Hideki Tamura**,
and Takehiro Takano**

*Division of Production and Information Systems Engineering, Muroran Institute of Technology, 27-1 Mizumoto-cho, Muroran, Hokkaido 050-8585, Japan

**Department of Information and Communication Engineering, Tohoku Institute of Technology, 35-1 Kasumi-cho, Yagiyama, Tohoku Institute of Technology, Sendai 982-8577, Japan

Received:
September 29, 2011
Accepted:
August 27, 2012
Published:
October 20, 2012
Keywords:
multidegree-of-freedom (MDOF), spherical ultrasonic motor (SUSM), disk type, rotor embedded, sandwich-type
Abstract

An actuator system with multidegree-of-freedom (MDOF) motion and complicated action has recently attracted interest in the field of robotic technology. The present paper proposes a novel rotor-embeddedtype MDOF spherical ultrasonic motor (SUSM). The MDOF SUSM consists of a spherical rotor and a stator vibrator with an all-in-one structure. The spherical rotor is embedded in the center of an almost annular stator vibrator with a spherical inner surface, and a motor shaft is mounted on the rotor. The stator vibrator with piezoceramic disks and plates adhering to the surfaces of the vibrator can excite five vibration modes independently and simultaneously. The spherical rotor rotates around three axes by combining two of the five vibration modes. The present paper describes the basic construction and the operating principle of the rotor-embedded-type MDOF SUSM, modal analysis results for the stator vibrator, and experimental results based on trial manufacture. The proposedMDOF SUSM confirmed the operating principle of design has a simple structure and is compact and lightweight, so a large torque-to-weight ratio is expected to be realized.

Cite this article as:
Bo Lu, Manabu Aoyagi, Hideki Tamura, and
and Takehiro Takano, “Development of a Novel Rotor-Embedded-Type Multidegree-of-Freedom Spherical Ultrasonic Motor,” J. Robot. Mechatron., Vol.24, No.5, pp. 876-883, 2012.
Data files:
References
  1. [1] K.-M. Lee, R. Roth, and Z. Zhou, “Dynamic Modeling And Control of a Ball-Joint-Like Variable Reluctance Spherical Motor,” Trans. of ASME, J. of DSMC, Vol.118, No.1, pp. 29-40, 1996.
  2. [2] J. Wang, K. Mitchell, G. W. Jewell, and D. Howe, “Multi-degreeof-freedom spherical permanent magnet motors,” Proc. Int. Conf. Robotics and Automation (ICRA2001), Vol.2, pp. 1798-1805, 2001.
  3. [3] B. Dehez, D. Grenier, and B. Raucent, “Two-degree-of-freedom spherical actuator for omnimobile robot,” Proc. Int. Conf. Robotics and Automation (ICRA2002), pp. 2381-2386, 2002.
  4. [4] K. Kaneko, I. Yamada, and K. Itao, “A Spherical DC Servo Motor with Three Degree of Freedom,” Trans. of ASME, J. of DSMC, Vol.111, pp. 398-402, 1989.
  5. [5] G. S. Chirikjian and D. Stein, “Kinematic Design and Commutation of a Spherical Stepper Motor,” IEEE/ASME Trans. Mechatronics, Vol.4, pp. 342-353, 1999.
  6. [6] S. Ueha and Y. Tomikawa, “Ultrasonic Motor-Theory and Applications,” Oxford: Clarendom Press, 1993.
  7. [7] H. Hata, Y. Tomikawa, S. Hirose, and T. Takano, “Ring-form twodimensional (X-Y) moving piezoelectric actuator,” Jpn. J. Appl. Phys., Vol.35, pp. 5023-5026, Sep. 1996.
  8. [8] T. Amano, T. Ishii, K. Nakamura, and S. Ueha, “An ultrasonic actuator with multi-degree of freedom using bending and longitudinal vibrations of a single stator,” Proc. 1998 IEEE Ultrason. Symp., pp. 667-670, 1998.
  9. [9] C.-H. Yun, S. Niwano, J. R. Friend, K. Nakamura, and S. Ueha, “Support Mechanism for the Ball Rotor in the Three-Degree-of - Freedom Ultrasonic Motor,” Jpn. J. Appl. Phys., Vol.42, pp. 3000-3001, 2003.
  10. [10] T. Morita, M. Kurosuwa, and T. Higuchi, “Design of a Cylindrical Ultrasonic Micromotor to Obtain Mechanical Output,” Jpn. J. Appl. Phys., Vol.35, pp. 3251-3254, 1996.
  11. [11] Y. Goda, D. Koyama, and K. Nakamura, “Design of Multi-Degreeof-Freedom Ultrasonic Micromotors,” Jpn. J. Appl. Phys., Vol.48, pp. 07GM06-1-4, 2009.
  12. [12] T. F. Khoo, D. H. Dang, J. Friend, D. Oetomo, and L. Yeo, “Triple Degree-of-Freedom Piezoelectric Ultrasonic Micromotor via Flexural-Axial,” IEEE Trans. Ultrason. Ferroelectr. Freq. Control, Vol.56, pp. 1716-1724, 2009.
  13. [13] S. Toyama and S. Hatae, “Multi degree of freedom spherical ultrasonic motor,” Proc. Int. Conf. Robotics and Automation (ICRA1995), Vol.3, pp. 2935-2940, 1995.
  14. [14] N. Fukaya, H. Wada, and S. Toyama, “Development of a Stator for Spherical Ultrasonic Motor (1st Report): Examination of a Stator Shape,” J. Jpn. Soci. Preci. Eng., Vol.66, pp. 769-774, 2000 (in Japanese).
  15. [15] K. Takemura and T. Maeno, “Design and Control of an Ultrasonic Motor Capable of Generating Multi-DOF Motion,” IEEE/ASME Trans. Mechatronics, Vol.6, No.4. pp. 499-506, 2001.
  16. [16] T. Takano, Y. Tomikawa, and C. Kusakabe, “Same phase drive-type ultrasonic motors using two degenerate bending vibration modes of a disk,” IEEE Trans. Ultrason. Ferroelectr. Freq. Control, Vol.39, pp. 180-186, 1996.
  17. [17] M. Aoyagi, T. Ogasawara, Y. Tomikawa, and T. Takano, “Multidegree-of-freedom ultrasonic actuator employing multi-vibration modes of a disk,” Proc. 7th Int. Conf. New Actuators Germany (ACTUATOR 2000), pp. 399-402, 2000.
  18. [18] M. Aoyagi, S. P. Beeby, and N. M. White, “A novel multi-degreeof-freedom thick-film ultrasonic motor,” IEEE Trans. Ultrason. Ferroelectr. Freq. Control, Vol.49, No.2, pp. 151-158, 2002.
  19. [19] M. Aoyagi, T. Nakajima, Y. Tomikawa, and T. Takano, “Examination of disk-type multidegree-of-freedom ultrasonic motor,” Jpn. J. Appl. Phys., Vol.43, pp. 2884-2890, 2004.
  20. [20] B. Lu, M. Aoyagi, T. Takano, and H. Tamura, “Examination of Sandwich-Type Multidegree-of-Freedom Spherical Ultrasonic Motor,” Jpn. J. Appl. Phys., Vol.49, No.7, pp. 07HE24-1-7, 2010.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Aug. 03, 2021