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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
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Modal-coupled dual-rotor ultrasonic motor with expandable configuration
Xinchi Ma1, Ying Yang1, Rui Xu1
1State Key Laboratory of Mechanics and Control for Aerospace Structures, College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Yudao 29, Nanjing 210016, PR China.
Ultrasonics
|March 18, 2026
Summary
This study introduces a novel design for dual-rotor ultrasonic motors, simplifying assembly and enhancing flexibility. The new piezoelectric actuation mechanism and cooperative assembly method improve performance and application scope.
Area of Science:
- Mechanical Engineering
- Materials Science
- Robotics
Background:
- Conventional dual-rotor ultrasonic motors face challenges in structural complexity and assembly.
- Limited design flexibility restricts their application in engineering.
Purpose of the Study:
- To propose a novel piezoelectric actuation mechanism for sandwich-type dual-rotor ultrasonic motors.
- To develop an expandable design scheme and cooperative assembly method.
- To enhance design flexibility and simplify assembly for improved performance.
Main Methods:
- Utilized longitudinal-bending modal coupling for simplified actuation.
- Established an expandable design method for rapid prototyping.
- Developed a synergistic assembly system with frame, prestressed nuts, and ring-horn structure.
Main Results:
- Finite element analysis validated the driving principle and optimized parameters.
- Prototype testing confirmed efficient assembly and reliable continuous operation.
- Achieved output torque of 1.5 N·m and exceptional stepping capability (0.065/0.114 μrad).
Conclusions:
- The proposed design expands the paradigm for sandwich-type dual-rotor ultrasonic motors.
- Offers a systematic solution for engineering applications requiring high precision and flexibility.
- Demonstrates a viable approach for efficient and stable multi-transducer cooperative assembly.
Keywords:
Cooperative assemblyDual-rotor ultrasonic motorExpandable designLangevin transducerModal-couplingMore Related Videos
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