Research On Ultrasonic Motor With Climbing Function

As a new type of actuator, ultrasonic motors have become a research focus of theworld with its outstanding advantages in the field of new micro motor. So far, theultrasonic motors have replaced the traditional electromagnetic motor in many areas.But they only act as the role of power and transmission links in the system. With theconcept of system integration, the use of a single object to realize the multiplesubsystems’ functional requirements is more and more. In view of this, the ultrasonicactuator with climbing function integrated support system, transmission system andexecution system. It can broad the function and application of ultrasonic motor. Thisproject will expand the application range of ultrasonic drivingComposite mode ultrasonic motors are favored by researchers in recent years.Because they exhibit advantages such as large torque or thrust, high speed, etc. However,it has the shortcoming of the mode degeneration. In a previous study, our group hasproposed a kind of bending composite vibration ultrasonic motor., which used the sametype orthogonal bending vibration modal combinations. Based on the proposed theory,this paper proposed a new type of bending composite vibration ultrasonic actuator,which will climb on flexible body by means of climbing device.From the principle of bending vibration ceramic excite the rectangle beam’s thirdbending vibration, this paper gave a detailed introduction on the structure of the bendingcomposite vibration ultrasonic actuator and the climbing device, material selection anddriving principle. A sensitivity analysis of the structural parameters of the actuator wasconducted. The influence of the mode frequency was got. Based on the equivalentcircuit model of piezoelectric vibrator, a simulation analysis of the electrical propertiesof the actuator model was conducted. The vibration equation of particles on driving footwas deduced. The elliptical motion trajectory was verified by transient dynamicsanalysis using ANSYS software. Finally, based on the above theoretical and simulationanalysis, a prototype motor was fabricated and measured by using laser Dopplervibrometer and Agilent Precision Impedance Analyzer. The results showed that theactuator achieved a no-load maximum level climbing speed of542mm/s and amaximum vertical climbing speed of418mm/s. Furthermore, the maximum load that theactuator can carry is tested to be23N, which is11.5times of its own weight.