title: Actuating mechanism and design of a cylindrical traveling wave ultrasonic motor using cantilever type composite transducer.
abstract: BACKGROUND
  Ultrasonic motors (USM) are based on the concept of driving the rotor by a mechanical vibration excited on the stator via piezoelectric effect. USM exhibit merits such as simple structure, quick response, quiet operation, self-locking when power off, nonelectromagnetic radiation and higher position accuracy.
  
  
  RESULTS
  A cylindrical type traveling wave ultrasonic motor using cantilever type composite transducer was proposed in this paper. There are two cantilevers on the outside surface of cylinder, four longitudinal PZT ceramics are set between the cantilevers, and four bending PZT ceramics are set on each outside surface of cantilevers. Two degenerate flexural vibration modes spatially and temporally orthogonal to each other in the cylinder are excited by the composite transducer. In this new design, a single transducer can excite a flexural traveling wave in the cylinder. Thus, elliptical motions are achieved on the teeth. The actuating mechanism of proposed motor was analyzed. The stator was designed with FEM. The two vibration modes of stator were degenerated. Transient analysis was developed to gain the vibration characteristic of stator, and results indicate the motion trajectories of nodes on the teeth are nearly ellipses.
  
  
  CONCLUSIONS
  The study results verify the feasibility of the proposed design. The wave excited in the cylinder isn't an ideal traveling wave, and the vibration amplitudes are inconsistent. The distortion of traveling wave is generated by the deformation of bending vibration mode of cylinder, which is caused by the coupling effect between the cylinder and transducer. Analysis results also prove that the objective motions of nodes on the teeth are three-dimensional vibrations. But, the vibration in axial direction is minute compared with the vibrations in circumferential and radial direction. The results of this paper can guide the development of this new type of motor.
authors.affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China. liuyingxiang868@163.com
authors.forename: Yingxiang
authors.initials: Y
authors.lastname: Liu
authors.forename: Weishan
authors.initials: W
authors.lastname: Chen
authors.forename: Junkao
authors.initials: J
authors.lastname: Liu
authors.forename: Shengjun
authors.initials: S
authors.lastname: Shi
mesh_terms: D004867:Equipment Design; D014159:Transducers; D014465:Ultrasonics; D014732:Vibration