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Traveling Wave Type Multi-Degree-of-Freedom Spherical Ultrasonic Motor with Built-in Stators
Journal of Electrical Engineering & Technology ( IF 1.9 ) Pub Date : 2020-06-03 , DOI: 10.1007/s42835-020-00463-0
Zheng Li , Liang Zhao , Zhe Wang , Peng Guo

A multi-degree-of-freedom spherical ultrasonic motor with built-in traveling wave stators is proposed, and each traveling wave stator can be controlled independently, the three-degree-of-freedom movement of the spherical rotor is realized by the coordinated control of the three traveling wave stators and the spatial arrangement of the support structures. The motor also has a built-in pre-pressure adjustment structure, which can adjust the pre-pressure of three stators at the same time and make them the same size. The structure and working principle of the motor are expounded in detail. The structure and working principle of the motor are expounded in detail. The finite element method is used to analyze the modal of the traveling wave stator, and the transient trajectory of the driving part is simulated. Finally, the working principle was verified on the prototype, and the mechanical output performance of the prototype was tested: when the excitation voltage of the motor is 400 V and the preload is 100 N, the maximum speed is 45.6 rad/min, the maximum speed output torque is 1.265 Nm; the maximum deflection angle is 43°, and the maximum deflection speed is 56.3 rad/min, the maximum deflection torque is 1.76 Nm, achieves high torque and multiple-degrees-of-freedom. The motor has the advantages of large output force, high integration, and adjustable preload.

中文翻译:

内置定子行波多自由度球面超声波马达

提出了一种内置行波定子的多自由度球形超声波电机,每个行波定子可独立控制,通过协调控制实现球形转子的三自由度运动三个行波定子和支撑结构的空间布置。电机还内置预压调节结构,可同时调节三个定子的预压,使之大小一致。详细阐述了电机的结构和工作原理。详细阐述了电机的结构和工作原理。采用有限元方法对行波定子进行模态分析,模拟驱动部分的瞬态轨迹。最后,在样机上验证了工作原理,测试样机的机械输出性能:当电机励磁电压为400 V,预紧力为100 N时,最大转速为45.6 rad/min,最大转速输出扭矩为 1.265 Nm;最大偏转角43°,最大偏转速度56.3 rad/min,最大偏转扭矩1.76 Nm,实现高扭矩和多自由度。该电机具有输出力大、集成度高、预紧力可调等优点。最大偏转速度为56.3 rad/min,最大偏转扭矩为1.76 Nm,实现高扭矩和多自由度。该电机具有输出力大、集成度高、预紧力可调等优点。最大偏转速度为56.3 rad/min,最大偏转扭矩为1.76 Nm,实现高扭矩和多自由度。该电机具有输出力大、集成度高、预紧力可调等优点。
更新日期:2020-06-03
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