板簧支撑结构的三自由度超声波电机驱动模型研究

A novel type of 3DOF spherical traveling-wave type ultrasonic motor based on a spiral form of spring

提出了一种基于板簧支撑结构的三自由度球形行波型超声波电机。首先介绍了这种电机的基本结构和驱动原理,使用板簧支撑结构较好地解决了球转子与行波定子之间的对心问题,定转子之间的预紧力更加均匀一致;然后利用摩擦驱动模型对这种电机进行了数学建模,推导出了电机的机械特性计算方程组;接着对模型进行了仿真计算,分析得到了一些有用的结果。研制样机的球转子直径为40mm,定子直径为30mm,实现的堵转力矩为0.035Nm,空转转速90r/min,且各方向运转平稳,输出性能比较一致。

Based on a spiral form of the spring,a novel type of traveling-wave three degree-of-freedom spherical ultrasonic motor was developed.Its structure and driving principle is introduced,especially a spiral form of the spring.The key issue of the self-regulation between the stators and the spherical rotor are solved by making use of the specially-made spring.The preload between the stators and the spherical rotor is more smooth.The mathematical model of the motor is established based on the friction drive model and the equations of mechanical characteristics are deduced.Through simulation,the mechanical characteristics of this type of motor is obtained.This article lays a theoretical foundation for control strategy of the motor.The diameter of prototype motor is 40 mm for rotor and 30 mm for stator and the maximum stalling torque is 0.035 Nm,the maximum speed is 90 r/min.From the above discussion and experiments availability of devices is to be verified.The results of this study are used for optimal design and performance improvement of three degree-of-freedom traveling-wave spherical ultrasonic motor.