科研之友
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摘要
In this paper, a novel rotary ultrasonic motor is designed for the requirements of robot joints. This motor features a stator, which contains both a hollow cylinder and a rod-shaped piezo vibrator utilized to excite two in-plane modes of the hollow cylinder, and a rotor, which is composed of two cones and a shaft. By exciting the two orthogonal in-plane modes of a hollow cylinder with a phase difference of pi/2 in excited signal, an in-plane traveling wave is formed in the hollow cylinder. The rotor is driven when two cones are pressed to the boundary of the hollow cylinder by a spring. Test results of the prototype show that its maximum non-load rotation speed can reach 120 rev/min with a maximum output torque of 0.2 Nm.
- 出版日期2010-10
- 单位南京航空航天大学
