光学精密工程2008，Vol.16Issue(12)：2352-2357,6.
圆柱形三自由度超声电机输出性能的仿真设计
Simulation of output properties for cylinder type 3-DOF ultrasonic motor
摘要
Abstract
A 3-DOF ultrasonic motor with a cylinder type stator and a spherical rotor is developed.The motor can provide 3-DOF rotations around X,Y,and z-axes based on two second order bending modes with orthogonality and a first order longitudinal mode of the stator.The diameter,height and mass of the stator are 20 mm,56 mm,and 130 g,respectively,and the diameter of the rotor is 25 mm.The unloaded rotational speeds of the prototype motor around x,Y,and z-axes are 33,35 and 66 r·min-1 ,respectively.The maximum torques of the prototype motor around x ,y,and z-axes are 24.8,36.6 and 30.2mN·m,respectively.In the present study,a simulated mathematical model of output properties for the motor is established according to its driving principle.Firstly,the amplitude and frequency of the driving points on the stator of the motor are obtained by structural dynamic analysis(FEM)for the stator.Then,the displacement and velocity of the driving points are calculated.It is supposed that the stator contacts with the rotor of the motor in elasticity, which means that a series of contacted points between the stator and the rotor are connected by springs. According to relative motion between the stator and the rotor of the motor, the deformation and elastic force of every spring can be obtained. Furthermore, the friction force between the stator and the rotor of the motor can be deduced. Finally the output torque, power loss and driving efficiency of the motor are calculated.Based on the mathematical model above, a simulated program is developed in MATLAB environment,and the output properties of the motor are simulated by the program. The experimental results indicate that the simulated results of the motor's output properties well accord with the experimental resuits when the output torque of the motor is smaller. However, when the output torque of the motor increases gradually its error gets greater, and the actual values of the output properties are less than the the oretical values. The decrease of the actual output is caused by a slide phenomenon between thestator and the rotor. Experimental results show that the simulation of output properties would provide conditions for estimating the output properties of the motor and optimizing the design in development of USM.关键词
多自由度/超声电机/输出性能/仿真Key words
DOF/ultrasonic motor/output property/simulation分类
信息技术与安全科学引用本文复制引用
李志荣,黄卫清,赵淳生..圆柱形三自由度超声电机输出性能的仿真设计[J].光学精密工程,2008,16(12):2352-2357,6.基金项目
Supported by the Natiohal Natural Science Foundation of China(No.50005010) （No.50005010）
