A rabbit shaped bidirectional linear ultrasonic motor driven by single-phase signal

Area of Science:

• Mechanical Engineering
• Materials Science
• Robotics

Background:

• Miniaturized actuators are crucial for advanced robotics and micro-devices.
• Ultrasonic motors offer high precision and holding torque but often lack bidirectional capability without complex mechanisms.

Purpose of the Study:

• To propose and characterize a novel, compact, single-phase, linear ultrasonic motor with bidirectional driving capabilities.
• To investigate a rabbit-inspired design for enhanced locomotion and efficiency.

Main Methods:

• Design based on rabbit running mode and Langevin vibrator concentrator principle.
• Theoretical deduction and simulation of driving foot motion and force.
• Experimental verification using modal impedance characteristics and prototype testing.

Main Results:

• The 17.7 × 9.1 × 6 mm³, 2.3 g motor achieves bidirectional drive without changing constraint position.
• In B1 mode (rightward drive): 42.3 mm/s no-load speed, 0.28 N max driving force, 0.27 Nm stall torque.
• In B2 mode (reverse drive): 118 mm/s no-load speed, 1.48 N max driving force, 1.41 Nm stall torque.

Conclusions:

• The proposed rabbit-shaped ultrasonic motor successfully demonstrates efficient bidirectional linear motion.
• The design offers a promising solution for compact, high-performance actuation in various applications.