超声电机及其在机器人驱动中的应用

声波电机(Ultrasonic Motor,简称USM)是一种近二十年来发展起来的一种利用超声波振动能作为驱动源的新原理电机。以行波型超声电机为例,介绍超声电机原理结构、特点及其驱动控制技术,并以超声电机驱动的二轴机械臂控制系统为例子介绍超声电机在机器人控制、执行中的应用。

Ultrasonic motor （Ultrasonic Motor,USM is a nearly twenty years with the development of an ultrasonic vibration energy as the driving source of new principle motor.Based on the traveling wave type ultrasonic motor as an example,introduces the prin-ciple,structure characteristic of ultrasonic motor and its driving and controlling technique,and the ultrasonic motor driving two shafts of the manipulator control system as an example to introduce ultrasonic motors in robot control,executing application.