Examination of High-Torque Sandwich-Type Spherical Ultrasonic Motor Using with High-Power Multimode Annular Vibrating Stator

doi:info:doi/10.3390/act7010008

Examination of High-Torque Sandwich-Type Spherical Ultrasonic Motor Using with High-Power Multimode Annular Vibrating Stator 利用統計を見る

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アイテムタイプ	学術雑誌論文 / Journal Article.
言語	英語
キーワード	ultrasonic motor (USM), spherical rotor, multiple degrees of freedom (MDOF), high-power, annular vibrator, sandwich, multilayer piezoelectric actuator (MPA)
著者	MIZUNO Ai OIKAWA Koki AOYAGI Manabu ( 研究者リゾルバーID: 1000080231786 ) KAJIWARA Hidekazu ( 研究者リゾルバーID: 1000000280313 ) TAMURA Hideki TAKANO Takehiro
著者（別表記）	水野愛及川航希青柳学梶原秀一田村英樹高野剛浩
室蘭工業大学研究者データベースへのリンク	青柳学（AOYAGI Manabu）梶原秀一（KAJIWARA Hidekazu）
抄録	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.
雑誌名	Actuators
巻	7
号	1
ページ	8 - 24
発行年	2018-02-27
出版者	MDPI
出版者版へのリンク	10.3390/act7010008
DOI	info:doi/10.3390/act7010008
日本十進分類法	501
ISSN	2076-0825
権利	© 2018 by the authors; licensee MDPI AG, Basel, Switzerland. This article is an open-access article distributed under the terms and conditions of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/).
著者版フラグ	publisher
主となる版	http://www.mdpi.com/2076-0825/7/1/8/pdf
フォーマット	application/pdf

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Examination of High-Torque Sandwich-Type Spherical Ultrasonic Motor Using with High-Power Multimode Annular Vibrating Stator 利用統計を見る

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