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Paper Abstract and Keywords
Presentation 2017-04-27 17:15
A study on a preload structure of a multi-degree of freedom ultrasonic motor for a joint mechanism
Keita Suzuki, Masami Sudou, Yoshikazu Koike (SIT) US2017-13
Abstract (in Japanese) (See Japanese page) 
(in English) The multi-degree-of-freedom ultrasonic motor is able to realize miniaturization and high torque since demanded motor can be obtained by a single stator. And, the realization of the motor is expected in wide range of fields. The preload structure is a large problem to realize the motor. In this report, we developed prototype multi - degree - of - freedom ultrasonic motor for joint mechanism. The developed motor consists of a spherical rotor sandwiched between two stators, which is considered as an effective structure for the motor. The stator of the developed motor has a magnification structure of vibration displacement to make the specification of the motor improve. At first, the dimension of the stator is calculated by finite element analysis. As a result it was confirmed that the 0.82[mNm] of the maximum torque is obtained in the X axis rotation, although the axis misalignment occurred in the Z axis of the rotating shaft.
Keyword (in Japanese) (See Japanese page) 
(in English) multi-degree of freedom ultrasonic motor / robotic arms / pre-load structure / manipulator / modal analysis / sandwich structure / spherical rotor / joint mechanism  
Reference Info. IEICE Tech. Rep., vol. 117, no. 14, US2017-13, pp. 65-70, April 2017.
Paper # US2017-13 
Date of Issue 2017-04-20 (US) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF US2017-13

Conference Information
Committee US  
Conference Date 2017-04-27 - 2017-04-27 
Place (in Japanese) (See Japanese page) 
Place (in English)  
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To US 
Conference Code 2017-04-US 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) A study on a preload structure of a multi-degree of freedom ultrasonic motor for a joint mechanism 
Sub Title (in English)  
Keyword(1) multi-degree of freedom ultrasonic motor  
Keyword(2) robotic arms  
Keyword(3) pre-load structure  
Keyword(4) manipulator  
Keyword(5) modal analysis  
Keyword(6) sandwich structure  
Keyword(7) spherical rotor  
Keyword(8) joint mechanism  
1st Author's Name Keita Suzuki  
1st Author's Affiliation Shibaura Institute of Technology (SIT)
2nd Author's Name Masami Sudou  
2nd Author's Affiliation Shibaura Institute of Technology (SIT)
3rd Author's Name Yoshikazu Koike  
3rd Author's Affiliation Shibaura Institute of Technology (SIT)
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Speaker Author-1 
Date Time 2017-04-27 17:15:00 
Presentation Time 25 minutes 
Registration for US 
Paper # US2017-13 
Volume (vol) vol.117 
Number (no) no.14 
Page pp.65-70 
#Pages 6 
Date of Issue 2017-04-20 (US) 

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