个行波定子 自由度球形超声波电机.pdfVIP

第 30 卷 第 9 期 中 国 电 机 工 程 学 报 Vol.30 No.9 Mar.25, 2010 62 2010 年 3 月 25 日 Proceedings of the CSEE ©2010 Chin.Soc.for Elec.Eng. 文章编号：0258-8013 (2010) 09-0062-06 中图分类号：TM 35 文献标志码：A 学科分类号：470·40 3 个行波定子的 2 自由度球形超声波电机 胡锡幸，郭吉丰 (浙江大学电气工程学院，浙江省 杭州市 310027) Two Degree of Freedom Spherical Ultrasonic Motor With Three Traveling-wave Stators HU Xi-xing, GUO Ji-feng (College of Electrical Engineering, Zhejiang University, Hangzhou 310027, Zhejiang Province, China) ABSTRACT: A novel type of 2DOF (two degree of freedom) 且各方向性能较一致。此球电机具有结构紧凑、安装方便和 spherical ultrasonic motor with three traveling-wave type 性能优越的特点，可用于机器人手腕、CCD 云台控制等许 stators was developed. Its structure and driving principle are 多场合。 introduced, especially a spiral form of the spring was presented. 关键词：2 自由度；球电机；超声波电机；机械特性 The key issue of the self-regulation between the stators and the spherical rotor was solved, and the errors caused by processing 0 引言 and installation were overcomed by making use of the 多自由度球电机是电机研究领域的前沿课题。 special-made spring. Ensured that the preload between the 近 20 年来，许多国家研制的多自由度电机主要以电 stators and the spherical rotor was more uniform and smooth. 磁感应型[1-7]为主，还有少量以流体和气体传动等方 The mathematics model of the motor was established based on 式为主。随着能量转换形式的多样化，日本学者首 the Friction Drive Model, and the analytical expression of mechanical characteristics calculation was deduced. The 先提出以摩擦驱动超声波电机，实现多自由度驱动。 features of the mechanical characteristics were acquired by 超声波球电机具有传统单自由度超声波电机 make the minimum Euclidean norm as a targ