Characteristic analysis and design of a B14 rotary ultrasonic motor for a robot arm taking the contact mechanism into consideration.
The ultrasonic motor (USM) has many merits for use in a robot arm application. Therefore, the disk-type traveling wave B14 rotary ultrasonic motor (RUSM) is proposed in this paper for that application. Up to the present time, the analysis and design of the USM have been almost always performed using rough analytic methods or using commercial analysis tools. As a result, it was impossible to achieve an exact analysis and design of the USM. In order to address this problem, this paper proposes the analysis and design methodology of the B14 RUSM using a numerical method (3-D FEM) combined with an analytic method taking the contact mechanism into consideration in a linear operation. This methodology is applicable to many other kinds of USMs that use similar mechanisms. In addition, the mechanical system and the driving circuit of the B14 RUSM are designed and prototyped. Finally, the proposed analysis and design methodology is validated by comparing its outcomes with the experimental data. Also, the appropriateness of the suggested RUSM for the application of a robot arm was verified.
Rho
Jong-Seok
JS
School of Electrical Engineering, Seoul National University, Kwanak-gu, Seoul, Korea. zzong@elecmech.snu.ac.kr
Oh
Kwang-Il
KI
Kim
Hong-Seok
HS
Jung
Hyun-Kyo
HK
D003198:Computer Simulation; D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D008962:Models, Theoretical; D012371:Robotics / Q000295:instrumentation*; D012399:Rotation; D014159:Transducers; D014465:Ultrasonics; D014732:Vibration