Title :
A Multi-DOF Ultrasonic Motor Using In-plane Deformation of PZT Elements and Its Driving Circuit
Author :
Zhang, Minghui ; Li, Mantian ; Sun, Lining
Author_Institution :
Harbin Inst. of Technol., Harbin
Abstract :
Due to the increasing number of DOFs of systems and the reducing the volume and weight of the devices, multi-degrees-of-freedom (DOF) actuators have become more useful in the field of robotics. And the general features of ultrasonic motors are also suitable for constructing a direct-drive multi-DOF actuator. So, a new multi-DOF ultrasonic motor using in-plane deformation of PZT elements is introduced in this paper. Then its working principle and requirement for driving circuit are analyzed. At last, a driving circuit is proposed accordingly which generates sinusoidal actuating signals with a FPGA part (a Direct Digital Synthesizer (DDS) array is synthesized in it) and amplifies them with high voltage power operational amplifiers. It is characteristic of independent adjustment of amplitude and frequency for each output signal and independent adjustment phase between any two of output signals. The circuit meets the requirement of the motor.
Keywords :
deformation; direct digital synthesis; field programmable gate arrays; operational amplifiers; piezoelectric actuators; power amplifiers; ultrasonic motors; FPGA; PZT elements; direct digital synthesizer array; high voltage power operational amplifiers; in-plane deformation; multi-degrees-of-freedom actuators; multiDOF ultrasonic motor; Actuators; Circuit analysis; Circuit synthesis; Field programmable gate arrays; Power generation; Robots; Signal generators; Signal synthesis; Synthesizers; Voltage; driving circuit; in-plane deformation; multi-degree of freedom; ultrasonic motor;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4304087
