Development of multi-degree of freedom spherical ultrasonic motor

摘要

Presents the design concepts of a multi-degree of freedom spherical ultrasonic motor. It is expected to be applied to not only robotic manipulator's actuator capable of multi-degree motion in a single joint but also the assembling machines, laser cutting and many other fields. The authors propose the concept of a new spherical ultrasonic motor based on a new principle, and then, investigate the characteristics of a disk type ultrasonic motor to determine the optimum design parameters.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>