圆柱定子三自由度球转子超声波电机的轨迹运动方程

KINETIC EQUATION OF LOCUS FOR THREE-DEGREE OF FREEDOM SPHERICAL ULTRASONIC MOTOR WITH CYLINDER STATOR

圆柱定子3自由度球转子超声波电机利用一个定子的3种共振模态的两两叠加、合成,分别驱动一个球转子的3个自由度的旋转运动,三相同时激励时的轨迹运动方程是实现球转子预期轨迹控制的关键理论模型。在定子3种不同模态的有限元分析基础上,该文推导了圆柱定子3自由度球转子超声波电机在3相同时激励时的运动轨迹及传递机理,并对不同激励条件下的轨迹运动方程进行了分析、对比,为提高圆柱定子3自由度球转子超声波电机的定转子传动效率和进一步定量分析动力传递方式,定子优化设计,以及球转子的轨迹控制策略奠定了理论基础。

The kinetic equation of the three-degree of freedom (DOF) spherical ultrasonic motor with cylinder stator,which is driven by the three phases excited sources at the same time, is the basis of realizing the rotor locus driving and controlling. The three-DOF of the spherical rotor, in contact with one cylinder stator, revolving around three perpendicular axes can be driven by the each bi-phase summary and synthesis of the three natural resonant frequencies of the stator,two bending modes and one longitudinal mode. Based on the vibration modes of the stator by finite elements analysis (FEM), the kinetic equation of locus is presented for the three-DOF spherical rotor ultrasonic motor with cylinder stator in this paper. We can deduce the kinetic models of particles on the top of the cylinder stator from geometric thesis and some useful conclusions, such as the vibration amplitudes of two bending modes and the longitudinal made must be equal. The locus of the rotor varies with the different source are compared and contrasted. The results can be the key and prerequisite of the control strategy for three-DOF ultrasonic motors, and the kinetic equation can be the basis of increasing conversion efficiency from stator vibration to mechanical output of the three-DOF motor, the optimized designing of cylinder stator.