Position control methods of spherical ultrasonic motor

Takesue, Naoyuki; Ohara, Tomohiro; Ishibashi, Ryota; Toyama, Shigeki; Hoshina, Masahiko; Hirai, Yoshiyuki; Fukaya, Naoki; Arata, Jumpei; Fujimoto, Hideo

doi:10.1109/iros.2010.5650918

Cited by 14 publications

(8 citation statements)

References 9 publications

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“…Tx, Ty, and Tz are vectors of the rotor rotating around the X, Y, and Z axes, respectively. The torque of the 3-degree-of-freedom motor is T, and the torque vectors T 1 , T 2 , T 3 , and T 4 of the four stators are combined to obtain 34,35…”

Section: Electromagnetic-drive Stator-rotor Air-gap Magnetic Fieldmentioning

confidence: 99%

Torque modeling and characteristic analysis of electromagnetic piezoelectric hybrid-driven 3-degree-of-freedom motor

Guo

Han

et al. 2018

Advances in Mechanical Engineering

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The electromagnetic piezoelectric hybrid-driven 3-degree-of-freedom motor is a new multi-degree-of-freedom motor. To further analyze the torque characteristics of the electromagnetic piezoelectric hybrid-drive 3-degree-of-freedom motor. First, the principle and basic structure of the hybrid-drive motor are introduced, and the displacement and pressure distribution of the stator-rotor contact surface are obtained by analytical method. Based on this, the torque model of the piezoelectric stator-drive motor is obtained. Then, the air-gap magnetic field model of the permanent magnet rotor is obtained by analytical method, and the electromagnetic stator-torque model is obtained. Finally, the torque model of the electromagnetic piezoelectric hybrid-drive 3-degree-of-freedom motor is established by vector synthesis. The effects of piezoelectric stator mounting position angle, stator-rotor contact materials, and preload on motor torque are analyzed by simulation. The advantages of electromagnetic piezoelectric hybrid drive are analyzed, and the rationality of the model is preliminarily verified. It lays the foundation for further optimization design and performance improvement of electromagnetic piezoelectric hybrid-drive 3-degree-of-freedom motor.

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Section: Electromagnetic-drive Stator-rotor Air-gap Magnetic Fieldmentioning

confidence: 99%

Torque modeling and characteristic analysis of electromagnetic piezoelectric hybrid-driven 3-degree-of-freedom motor

Guo

Han

et al. 2018

Advances in Mechanical Engineering

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show abstract

“…In this study, the purpose is to develop a miniature motor for directional adjustment of a vascular endoscopic camera. Spherical ultrasonic motor [8][9][10] not affected by magnetic fields is used in the miniature motor. The characteristic of spherical ultrasonic motor is that one motor has multi degree of freedom in rotational direction.…”

Section: Introductionmentioning

confidence: 99%

Development of miniature spherical ultrasonic motor using wire stators

Wang¹,

Nishizawa²,

Tanaka³

et al. 2018

J. vibroeng.

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The purpose of this study is to develop a miniature motor for directional adjustment of a vascular endoscopic camera. Spherical ultrasonic motor not affected by magnetic fields is used in the miniature motor. The characteristic of spherical ultrasonic motor is that one motor has multi degree of freedom in rotational direction. Wire is used as stator to realize miniaturization of the motor, so it is called miniature spherical ultrasonic motor using wire stators. Firstly, the pressing force between a stator and a spherical rotor is discussed, which is important for developing a miniature spherical ultrasonic motor using wire stators. As a result, it can be clarified that there is an optimum value for the pressing force. Secondly, the starting torque is investigated, which is one characteristic of the miniature spherical ultrasonic motor using wire stators. The relationship between the frequency and amplitude of the applied AC voltage and the starting torque is clarified. Finally, the control method of the rotational direction of a miniature spherical ultrasonic motor using wire stators is discussed. A PWM control method is proposed to control the rotational direction of an ultrasonic motor. In this PWM control, traveling wave and standing wave generated on a wire stator are used. Experimental results show that the proposed method is effective.

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“…Now that it is difficult that only one motor meets the specification actually, the authors have prepared a small reduction gear system. The authors have also applied ultrasonic technology to develop the motor in order to reduce the size of it [1][2][3][4][5][6]. This is vibromotor and driven by ultrasonic vibration.…”

Section: Introductionmentioning

confidence: 99%

Micro ultrasonic motor for miniature robot arm

Toyama¹,

Nishizawa²

2017

Vib. proced.

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Abstract. The purpose of this study is development of micro ultrasonic motor for miniature robot arm. It will be assembled to a miniature robot applied to a mesh robot to represent the shape and stiffness of the surface of objects. In the first stage, the authors have developed a micro motor by ultrasonic technology. It has two components: a stator (a cube of 3 mm size) and a rotor (diameter of 1 mm). The authors have designed a new stator and a rotor to increase output torque. The first trial motor shows successfully the potential of the final goal of 5 μNm and 3 rpm with a reduction gear system.

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Position control methods of spherical ultrasonic motor

Cited by 14 publications

References 9 publications

Torque modeling and characteristic analysis of electromagnetic piezoelectric hybrid-driven 3-degree-of-freedom motor

Torque modeling and characteristic analysis of electromagnetic piezoelectric hybrid-driven 3-degree-of-freedom motor

Development of miniature spherical ultrasonic motor using wire stators

Micro ultrasonic motor for miniature robot arm

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