Design of a Piezoelectric Ultrasonic Motor for Micro-Robotic Application

2002-09-05
Akın, Tayfun
Başaran, Dilek
Erden, Abdülkadir
In a piezoelectric ultrasonic motor, exciting at least two orthogonal mechanical vibration modes of the composite stator using single or orthogonal multiple high frequency AC signals generates a mechanical vibration on the stator surface. The rotor is pressed against the stator's surface and a rotation is produced by frictional interaction between the touching stator and rotor surfaces. Piezoelectric ultrasonic motors, which have superior characteristics like; high torque at low speed, frictional locking at the power-off stage, absence of magnetic interference and compactness in size, are good candidates for robotics, automation, medical applications and various other fields. A miniaturized piezoelectric ultrasonic motor, the dimensions of which are 5.0 mm in diameter and 10 mm in length was developed. Four flattened surfaces were ground on the outer surface of a metal tube. Four PZT based piezoelectric ceramics were bonded onto these flat surfaces. The asymmetrical surface of the stator developed the split of the two degenerated orthogonal bending modes, resulting in a wobble motion. A rod through a pair of ferrules was used as the rotor of this motor. We carried out a Finite Element Analysis using ATILA code to optimize the orientation of piezoelectric plates on the other surface of the metal tube to equate the two orthogonal bending mode frequencies. Driving principal and motor characteristics 1. are explained after reviewing recent development of compact piezoelectric ultrasonic motors. We intend to use this motor in the actuation mechanism of micro robotics

Suggestions

Design of tunable impedance matching circuit for a GSM antenna
Öztürk, Mehmet Ali; Aydın Çivi, Hatice Özlem; Koçer, Fatih; Department of Electrical and Electronics Engineering (2015)
In this thesis, automatic impedance matching circuits are designed by using several tuning approaches. A typical automatic impedance matching system compensates for the impedance variations of the antenna due to the human hand and head using an electronically tunable impedance matching circuitry. Maximum output power, the linearity and efficiency of PA can be improved using automatic impedance matching circuit units. There are various tunable impedance matching circuits proposed in the literature to enhance...
Design of a compliant mechanism to amplify the stroke of a piezoelectric stack actuator
Keskin, Tamer; Özgen, Gökhan Osman; Department of Mechanical Engineering (2013)
Main objective of this study is to design a compliant mechanism with high frequency and high mechanical amplification ratio to be used for amplifying the stroke of a piezostack actuator. In this thesis, first of all, related literature is investigated and then alternative conceptual designs are established utilizing the mechanisms found in literature survey. Once best conceptual design is selected, detailed design of this mechanism is done. For detailed design of the compliant mechanism, topology optimizati...
Design and implementation of a voltage source converter based statcom for reactive power compensation and harmonic filtering
Çetin, Alper; Ermiş, Muammer; Department of Electrical and Electronics Engineering (2007)
In this thesis, design and implementation of a distribution-type, voltage source converter (VSC) based static synchronous compensator (D-STATCOM) having the simplest converter and coupling transformer topologies have been carried out. The VSC STATCOM is composed of a +/- 750 kVAr full-bridge VSC employing selective harmonic elimination technique, a low-pass input filter, and a /Y connected coupling transformer for connection to medium voltage bus. The power stage of VSC based STATCOM is composed of water-co...
Implementation issues of real time position estimation for induction motors using rotor slot harmonics
Ertan, Hulusi Bülent; Keysan, Ozan (2013-11-15)
In this paper, an approach to identify rotor slot harmonics, from motor currents or from induced voltage in an internal or external search coil voltage is described. The importance of this method is that instantaneous value of the rotor slot harmonics can be determined in real time. In this manner, it is possible to determine motor speed or rotor position of a motor in a short enough time, for use in vector control. This method is independent of motor parameters. Using this method an additional feedback bec...
Design and implementation of advanced pulse width modulation techniques and passive filters for voltage source inverter driven three-phase ac motors
Nebi, Onur Çetin; Hava, Ahmet Masum; Department of Electrical and Electronics Engineering (2010)
Advanced pulse width modulation (PWM) techniques such as space vector PWM, active zero state PWM, discontinuous PWM, and near state PWM methods are used in three-phase AC motor drives for the purpose of obtaining low PWM current ripple, wide voltage linearity range, and reduced common mode voltage (CMV). In some applications, a filter is inserted between the inverter and the motor for the purpose of reducing the stresses in the motor. The motor current PWM ripple components, terminal voltage overshoots, sha...
Citation Formats
T. Akın, D. Başaran, and A. Erden, “Design of a Piezoelectric Ultrasonic Motor for Micro-Robotic Application,” presented at the Int. Conf. Mechatronic Design and Modeling (2002), 2002, Accessed: 00, 2021. [Online]. Available: https://hdl.handle.net/11511/80262.