Miniature Ultrasonic Linear Motor Capable of Applying Opposing Preload

Inhalt:
In recent years, ultrasonic motors have been expected to be applied for driving robot hands and walking assist robots because of their low-speed and high-torque characteristics. However, the sufficient output has not been yet obtained for these applications. Therefore, a high-power actuator with miniaturized structure is strongly required. In this research, we propose an ultrasonic linear motor that has a concave-shaped stator and it can be preloaded from opposing direction. It utilizes the L1 mode in the driving direction and the B1-2 mode in the preload direction. The stator was designed with FEM analysis and the driving characteristics were examined.