单振子多自由度球型超声波电机的研究

The kipp oscillator multi--degree of freedom ball ultrasonic wave electrical machinery research

采用三个不同方向的单振子进行驱动，以运动矢量合成的形式实现多自由度运动的超声波电机，分析了产生多自由度运动的原理，设计、研制了一种多自由度球型超声波电机，并进行了实验研究。实验结果表明能实现多自由度。

Uses three different directions the kipp oscillators to carry on the actuation, realizes the multi--degree of freedom movement ultrasonic wave electrical machinery by the movement vectorial resultant form, analyzed has had the multi--degree of freedom movement principle, the design, has developed more than one kind of degree of freedom ball ultrasonic wave electrical ma- chinery,and has conducted the experimental study. The experimental result indicated can realize the multi--degrees of freedom.