A Novel Dual-Rotor Ultrasonic Motor for Underwater Propulsion

Abstract

Micro underwater vehicles (MUVs) have been highlighted recently for underwater explorations because of their high maneuverability, low price, great flexibility, etc. The thrusters of most conventional MUVs are driven by electromagnetic motors, which need big mechanical transmission parts and are prone to being interrupted by the variance of ambient electromagnetic fields. In this paper, a novel dual-rotor ultrasonic motor with double output shafts, compact size, and no electromagnetic interference is presented, characterized, and applied for actuating underwater robots. This motor was composed of a spindle-shaped stator, pre-pressure modulation unit, and dual rotors, which can output two simultaneous rotations to increase the propulsion force of the MUV. The pre-pressure modulation unit utilized a torsion spring to adjust the preload at the contact faces between the stator and rotor. The working principle of the ultrasonic motor was developed and the vibration mode of the stator was analyzed by the finite element method. Experimental results show that the no-load rotary speed and stalling torque of the prototype ultrasonic motor were 110 r/min and 3 mN·m, respectively, with 150 V peak-to-peak driving voltage at resonance. One underwater robot model equipped with the proposed ultrasonic motor-powered thruster could move at 33 mm/s immersed in water. The dual-rotor ultrasonic motor proposed here provides another alternative for driving MUVs and is appropriate for developing specific MUVs when the electromagnetic interference issue needs to be considered.

A novel structural–functional integration piezoelectric thruster for miniature unmanned underwater vehicles

“…(b) Compared with the thruster designed by Lu, the maximum rotation speed of our proposed thruster is lower by about one-third of its rotational speed. The piezoelectric thruster designed by Lu et al [25] uses an irregular plate piezoelectric actuator to directly drive the twin propellers. The firstorder longitudinal vibration frequency of the piezoelectric actuator is 63.2 kHz and its operating frequency is three times that of the piezoelectric actuator we designed, which means that the effective contact frequency of the piezoelectric actuator with the propeller is higher, and more contact per unit time will increase the propeller speed.…”

“…Lu et al proposed a piezoelectric actuator using the longitudinal vibration of an irregular plate. The piezoelectric actuator outputs vibration to two rotors through the main shaft and used a gear mechanism to achieve dual propeller synchronization [25]. To construct miniature UUVs, it must use parallel connections for the aforementioned piezoelectric thrusters to produce multi-directional thrust.…”

The Roles of Piezoelectric Ultrasonic Motors in Industry 4.0 Era: Opportunities and Challenges

“…Underwater Robots A dual-rotor ultrasonic motor with double output shafts, compact size, and no electromagnetic interference, characterized, and applied for actuating underwater robots [281].…”

A teeth-discretized electromechanical model of a traveling-wave ultrasonic motor

“…Furthermore, in order to obtain the input voltages and currents, the circuit equivalent model (Fig. 3) is adopted to substitute for the piezoelectric ceramics (Mojallali et al, 2007).…”