Miniature direct-drive two-link using a micro-flat ultrasonic motor. (18th October 2018)

• Record Type: Journal Article
• Authors: Miyoshi, K.; Mashimo, T.
• Is Part Of: Advanced robotics. Volume 32:Number 20(2018)
• Page Start: 1102
• Page End: 1110
• Publication Date: 2018-10-18
• Subjects: Micromotor -- piezoelectric actuator -- miniature linkage -- micro manipulator; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2018.1524313
• Languages: English
• ISSNs: 0169-1864

Abstract

ABSTRACT: We propose a micro-flat ultrasonic motor that performs a high torque density by a tiny and flat stator for driving a miniature two-link. Such a two-link can be a fundamental technology that enables micro-assembling and micro-manipulation under a microscopic environment. In this paper, we build the micro-flat ultrasonic motor comprising of a flat stator with 2.6 mm in width and height and 1 mm in depth and evaluate the output performance measures. The prototype micromotor shows a torque of 55 µNm at a voltage of 80 V by optimizing the preload between the stator and rotor. Moreover, a torque of approximately 100 µNm (10-g force generation by 1 mm radius) is obtained at higher voltages – this torque value is the largest in 2–3 mm scale motors reported to date. Two micro-flat ultrasonic motors drive a miniature two-link as direct-drive motors without gears. The motion of the two-link is demonstrated by an open-loop burst wave control, which is a pulse-width modulation control for an alternative voltage. Although the demonstration is simple, it shows the feasibility of the smallest and most practical link mechanism. GRAPHICAL ABSTRACT: