Design and control of an ultrasonic motor capable of generating multi-DOF motion

Author

Takemura, Kenjiro ; Maeno, Takashi

Author_Institution

Graduate Sch. of Sci. & Technol., Keio Univ., Yokohama, Japan

Volume

6

Issue

4

fYear

2001

fDate

12/1/2001 12:00:00 AM

Firstpage

499

Lastpage

506

Abstract

A multi-degree-of-freedom (DOF) ultrasonic motor consisting of a bar-shaped stator and a spherical rotor was developed. It can generate 3-DOF rotation of the rotor around perpendicular axes using the bending vibration and longitudinal vibration of the stator, which is designed using the finite element analysis. From the simulated driving characteristics, a control method for the ultrasonic motor is proposed. Following this, the driving characteristics of the motor under both open-loop and closed-loop controls were measured experimentally. The multi-DOF position control of the rotor was achieved successfully using the proposed control method

Keywords

finite element analysis; motion control; rotors; stators; ultrasonic motors; bar-shaped stator; bending vibrations; closed-loop control; finite element analysis; longitudinal vibration; open-loop control; position control; spherical rotor; ultrasonic motor; Actuators; Electromagnetic radiation; Geometry; Motion control; Open loop systems; Reluctance motors; Rotors; Stators; Torque; Vibrations;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/3516.974864

Filename

974864