Dynamic and Kinetic Analyses of the Stator of A Cylindrical Ultrasonic Motor

Author

Zhu, Hua ; Zhao, Chunsheng

Author_Institution

Precision Driving Lab., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing

fYear

2006

fDate

17-20 Dec. 2006

Firstpage

1346

Lastpage

1350

Abstract

A new dynamic modeling of the stator of the cylindrical ultrasonic motor is proposed based on the Timoshenko beam theory and Lagrange Equation. The trajectory of the driving point on the stator is kinetically analyzed by synthesizing the vibration in two orthogonal directions because of the structural symmetry. An angle is found between the elliptical motion plane of the driving point and the stator surface. It yields the slippage between the stator and the rotor and decreases the driving efficiency. So a spherical rotor is designed and its structural dimension is calculated. Two simple formulas are presented to estimate the ultimate performance of the motor. The numerical results and the mechanical measurements from the prototype motor validate the theoretical analysis.

Keywords

kinematics; rotors; stators; ultrasonic motors; vibrations; Lagrange equation; Timoshenko beam theory; cylindrical ultrasonic motor; driving efficiency; dynamic analysis; dynamic modeling; elliptical motion plane; kinetic analysis; motor performance estimation; orthogonal direction; spherical rotor design; stator driving point trajectory; stator slippage; stator surface; structural dimension; structural symmetry; vibration synthesis; Equations; Kinetic theory; Lagrangian functions; Magnetic analysis; Mechanical variables measurement; Prototypes; Rotors; Stators; Torque; Vibrations; Dynamic analysis; Kinetic analysis; Simulation; Ultrasonic motor;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on

Conference_Location

Kunming

Print_ISBN

1-4244-0570-X

Electronic_ISBN

1-4244-0571-8

Type

conf

DOI

10.1109/ROBIO.2006.340124

Filename

4142061