Fan Pingqing, Shu Xuecheng, Yuan Tao, Li Chaodong
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China.
Automotive Engineering College, Shanghai University of Engineering Science, Shanghai 201620, China.
Rev Sci Instrum. 2018 Aug;89(8):085001. doi: 10.1063/1.5037407.
This paper presents an ultrasonic motor with a high thrust-weight ratio. The miniaturized motor is 13 mm × 5 mm × 3.8 mm in size and uses the first-order bending vibration mode (B1 mode) and second-order bending vibration mode (B2 mode) to realize bidirectional movement through a single-phase driving signal. The theoretical trajectory and output thrust of the motor driving foot are initially studied. Subsequently, a finite-element model of the motor is established, and its dynamic performance is studied. Next, the prototype of the motor is fabricated and tested. The results show that errors in the B1 and B2 modes are 1.976% and 0.436%, respectively. Finally, an experimental setup is constructed to test the mechanical properties of the motor. The maximum output velocities of the motor is approximately 158 mm/s at 58.917 kHz in the B1 mode and approximately 137 mm/s at 113.581 kHz in the B2 mode. The maximum thrust force values of the motor in the B1 and B2 modes are approximately 1.32 N and 1.08 N, respectively, with 7 N preload and 120 V voltage. The overall mass of the motor stator is 1.0 g, so the motor thrust-weight ratio reaches 134.69.
本文介绍了一种具有高推重比的超声波电机。该小型化电机尺寸为13 mm×5 mm×3.8 mm，利用一阶弯曲振动模式（B1模式）和二阶弯曲振动模式（B2模式），通过单相驱动信号实现双向运动。初步研究了电机驱动足的理论轨迹和输出推力。随后，建立了电机的有限元模型，并研究了其动态性能。接着，制作并测试了电机原型。结果表明，B1模式和B2模式下的误差分别为1.976%和0.436%。最后，构建了一个实验装置来测试电机的机械性能。在B1模式下，电机在58.917 kHz时的最大输出速度约为158 mm/s；在B2模式下，电机在113.581 kHz时的最大输出速度约为137 mm/s。在7 N预载和120 V电压下，电机在B1模式和B2模式下的最大推力值分别约为1.32 N和1.08 N。电机定子的总质量为1.0 g，因此电机的推重比达到134.69。
