Linear ultrasonic piezoelectric actuator

A prototype of the linear ultrasonic piezoelectric actuator (LUPA) with a traveling wave was constructed, and fundamental characteristics were measured. In the prototype, the traveling wave was synthesized by supplying two-phase high-frequency electricity to the piezoelectric elements attached to the copper bar. These results imply that the LUPA has the possibility of higher-thrust power at the low-speed range. The ultrasonic actuator has advantages in its structure, including standstill friction force without excitation, high-thrust force around the low-speed range and free structure. The applications are mainly in the area of robot end effectors where high-thrust force is required at low-speed operation