A standing wave ultrasonic stepping motor using open-loop control system
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Updated: Feb 22, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
Xiaoxiao Dong1, Minqiang Hu1, Long Jin1
1School of Electrical Engineering, Southeast University, Nanjing, Jiangsu 210096, China.
Abstract:
We propose a standing wave ultrasonic stepping motor with blades and grooves for positioning. The step-by-step movements are achieved by applying the square wave driving voltage and the high-voltage pulse in turn. The prototype with a diameter of 30mm, a height of 10mm is experimentally characterized. The motor is superior to those previously reported due to the positioning mechanism for eliminating displacement cumulative error when using an open-loop control system. Also, the operating mode and the metal-to-metal friction drive ensure a stall torque of 0.055Nm under a relatively low operating voltage of 100Vpp at a resonance frequency of 74kHz.
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