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Characterization and Design of A Hollow Cylindrical Ultrasonic Motor

Zhanyue Zhao, Yang Wang, Charles Bales, Daniel Ruiz-Cadalso, Howard Zheng, Cosme Furlong-Vazquez, Gregory Fischer

Abstract

Piezoelectric ultrasonic motors perform the advantages of compact design, faster reaction time, and simpler setup compared to other motion units such as pneumatic and hydraulic motors, especially its non-ferromagnetic property makes it a perfect match in MRI-compatible robotics systems compared to traditional DC motors. Hollow shaft motors address the advantages of being lightweight and comparable to solid shafts of the same diameter, low rotational inertia, high tolerance to rotational imbalance due to low weight, and tolerance to high temperature due to low specific mass. This article presents a prototype of a hollow cylindrical ultrasonic motor (HCM) to perform direct drive, eliminate mechanical non-linearity, and reduce the size and complexity of the actuator or end effector assembly. Two equivalent HCMs are presented in this work, and under 50g prepressure on the rotor, it performed 383.3333rpm rotation speed and 57.3504mNm torque output when applying 282$V_{pp}$ driving voltage.

Characterization and Design of A Hollow Cylindrical Ultrasonic Motor

Abstract

Piezoelectric ultrasonic motors perform the advantages of compact design, faster reaction time, and simpler setup compared to other motion units such as pneumatic and hydraulic motors, especially its non-ferromagnetic property makes it a perfect match in MRI-compatible robotics systems compared to traditional DC motors. Hollow shaft motors address the advantages of being lightweight and comparable to solid shafts of the same diameter, low rotational inertia, high tolerance to rotational imbalance due to low weight, and tolerance to high temperature due to low specific mass. This article presents a prototype of a hollow cylindrical ultrasonic motor (HCM) to perform direct drive, eliminate mechanical non-linearity, and reduce the size and complexity of the actuator or end effector assembly. Two equivalent HCMs are presented in this work, and under 50g prepressure on the rotor, it performed 383.3333rpm rotation speed and 57.3504mNm torque output when applying 282 driving voltage.
Paper Structure (8 sections, 1 equation, 9 figures, 2 tables)

This paper contains 8 sections, 1 equation, 9 figures, 2 tables.

Table of Contents

  1. Introduction
  2. Hollow Cylindrical Motor Design
  3. Stator Finite Element Modeling
  4. Experiment Results and Analysis
  5. Holography Evaluation
  6. Rotary Speed Evaluation
  7. Output Torque Evaluation
  8. Conclusion and Disscussion

Figures (9)

  • Figure 1: HCM PZT pattern with internal design. (Left) Standard 4-phase type motor flat ceramic ring etching pattern. (Right) Vertical flipped ceramic tube etching type for internal HCM design.
  • Figure 2: Two types of HCM design, (Left) Internal type design and (Right) External design.
  • Figure 3: Detailed geometry design of internal HCM.
  • Figure 4: (a)-(f) indicate copper stator from $2^{nd}$ to $7^{th}$ eigenfrequency simulation results. Legend unit is mm.
  • Figure 5: (Left) One of the two equivalent HCMs stator assembly and cable connection 4-channel setup. (Right) An aluminum rotor coupled with the stator and rotary motion is performed.
  • ...and 4 more figures