Development of a novel spherical stator multi-DOF ultrasonic motor using in-plane non-axisymmetric mode

Abstract A novel spherical stator multi-DOF ultrasonic motor using in-plane non-axisymmetric mode was proposed. The stator and the rotor of the motor adopt a piezoelectric ceramic spherical shell and two metal hemispherical shells, respectively, which is beneficial to realize high symmetry and miniaturization of the whole motor. The motor adopts the pair combination of three orthogonal in-plane non-axisymmetric modes to generate three types of elliptical motions at eight driving feet, which can rotate the rotor around X, Y and Z axes, respectively. Finite element method was used in the design of the proposed motor including searching for reasonable modes by modal analysis and verifying the uniform driving of the eight driving feet by transient analysis. A prototype was fabricated to verify the working principles, designs and simulations. The mechanical output characteristics around X, Y and Z axes were measured under different excitations, pre-tightening forces and loading conditions. The no-load rotary velocities of the prototype were 200 r/min, 198 r/min and 250 r/min and the maximum load torques were 10.8 mN·m, 11.0 mN·m and 12.3 mN·m around X, Y and Z axes, respectively. The spherical stator multi-DOF ultrasonic motor could be applied to robot visual driving systems as its merits of compact size and high velocity.

[1]  Xinqi Tian,et al.  A novel U-shaped stepping linear piezoelectric actuator with two driving feet and low motion coupling: Design, modeling and experiments , 2019, Mechanical Systems and Signal Processing.

[2]  Zheng Li,et al.  Vibration mode analysis of multi-degree-of-freedom permanent magnet synchronous motor , 2018 .

[3]  Tomoaki Mashimo,et al.  Miniature preload mechanisms for a micro ultrasonic motor , 2017 .

[4]  Yuichiro Yoshikawa,et al.  Theatrical approach: Designing human-like behaviour in humanoid robots , 2017, Robotics Auton. Syst..

[5]  Zexiang Zhao,et al.  Mechanical and energetic characteristics of an energy harvesting type piezoelectric ultrasonic actuator , 2019, Mechanical Systems and Signal Processing.

[6]  M G Faulkner,et al.  Development of a shape memory alloy actuator for a robotic eye prosthesis , 2005 .

[7]  Li-Min Zhu,et al.  Modeling and Compensation of Asymmetric Hysteresis Nonlinearity for Piezoceramic Actuators With a Modified Prandtl–Ishlinskii Model , 2014, IEEE Transactions on Industrial Electronics.

[8]  Kenji Uchino,et al.  Development of a compact ring type MDOF piezoelectric ultrasonic motor for humanoid eyeball orientation system , 2018 .

[9]  Qunjing Wang,et al.  Analysis of Multi-Physics Coupling Field of Multi-Degree-of-Freedom Permanent Magnet Spherical Motor , 2019, IEEE Transactions on Magnetics.

[10]  Sergej Fatikow,et al.  Modeling and Control of Piezo-Actuated Nanopositioning Stages: A Survey , 2016, IEEE Transactions on Automation Science and Engineering.

[11]  R. Bansevicius,et al.  Investigation of oscillations of piezoelectric actuators with multi-directional polarization , 2018 .

[12]  Ching-Chih Tsai,et al.  Analysis and measurement of lateral elliptic motion effect for an asymmetric disc-type ultrasonic motor , 2010 .

[13]  Hidekazu Kajiwara,et al.  Study on spherical stator for multidegree-of-freedom ultrasonic motor , 2016 .

[14]  Shengyong Chen,et al.  Active vision in robotic systems: A survey of recent developments , 2011, Int. J. Robotics Res..

[15]  Xiaohui Yang,et al.  A Rotary Piezoelectric Actuator Using the Third and Fourth Bending Vibration Modes , 2014, IEEE Transactions on Industrial Electronics.

[16]  Junhui Hu,et al.  An experimental investigation of the temperature field in small piezoelectric vibrators , 2004 .

[17]  Kai Li,et al.  A low-speed linear stage based on vibration trajectory control of a bending hybrid piezoelectric ultrasonic motor , 2019, Mechanical Systems and Signal Processing.

[18]  E. Reingold.  Eye Tracking Research and Technology: Towards Objective Measurement of Data Quality , 2014, Visual cognition.

[19]  Uichi Nishizawa,et al.  Development of miniature spherical ultrasonic motor using wire stators , 2018 .

[20]  T. Mashimo,et al.  Design and implementation of spherical ultrasonic motor , 2009, IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control.

[21]  Weishan Chen,et al.  A ring‐type multi‐DOF ultrasonic motor with four feet driving consistently , 2017, Ultrasonics.

[22]  Yingxiang Liu,et al.  Design and Experiments of a Single-Foot Linear Piezoelectric Actuator Operated in a Stepping Mode , 2018, IEEE Transactions on Industrial Electronics.

[23]  Kenji Uchino.  Piezoelectric ultrasonic motors: overview , 1998 .

[24]  Chunsheng Zhao,et al.  Optimal design of the stator of a three-DOF ultrasonic motor , 2005 .

[25]  Yingxiang Liu,et al.  A Two-DOF Ultrasonic Motor Using a Longitudinal–Bending Hybrid Sandwich Transducer , 2019, IEEE Transactions on Industrial Electronics.

[26]  Qiquan Quan,et al.  Development of a three-DOF piezoelectric actuator using a thin cross-beam vibrator , 2018, International Journal of Mechanical Sciences.

[27]  Piotr Vasiljev,et al.  The square bar-shaped multi-DOF ultrasonic motor , 2008 .

[28]  Xiaohui Yang,et al.  Sandwich-Type Multi-Degree-of-Freedom Ultrasonic Motor With Hybrid Excitation , 2016, IEEE Access.

[29]  Jens Twiefel,et al.  Modeling of coupled longitudinal and bending vibrations in a sandwich type piezoelectric transducer utilizing the transfer matrix method , 2018, Mechanical Systems and Signal Processing.

[30]  Kenjiro Takemura,et al.  Design and control of an ultrasonic motor capable of generating multi-DOF motion , 2001 .

[31]  Sean R. Anderson,et al.  Cerebellar-Inspired Adaptive Control of a Robot Eye Actuated by Pneumatic Artificial Muscles , 2009, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[32]  He Li,et al.  An experiment study on temperature characteristics of a linear ultrasonic motor using longitudinal transducers. , 2019, Ultrasonics.