Design and implementation of spherical ultrasonic motor

Area of Science:

• Robotics and Mechanical Engineering
• Mechatronics

Background:

• Conventional multi-degree-of-freedom (multi-DOF) mechanisms often rely on complex systems like gimbals with servomotors.
• There is a need for smaller, simpler, and more efficient actuators for multi-DOF applications.

Purpose of the Study:

• To present the mechanical design and implementation of a novel Spherical Ultrasonic Motor (SUSM).
• To demonstrate the advantages of the SUSM as a compact multi-DOF actuator.

Main Methods:

• Utilized experimental data from a single annular stator and finite element method (FEM) for design.
• Constructed the SUSM using three annular stators and a spherical rotor.
• Investigated the dynamic implementation based on a friction drive model.

Main Results:

• The developed SUSM, with a 20 mm diameter spherical rotor, achieved high responsiveness, good accuracy, and high torque at low speed.
• The design eliminated the need for reduction gears, simplifying the mechanism.
• Dynamic implementation results were consistent with the friction drive model.

Conclusions:

• The novel SUSM offers a significantly smaller and simpler alternative to conventional multi-DOF mechanisms.
• The SUSM demonstrates excellent performance characteristics suitable for various robotic and mechatronic applications.