Seminar On Ultrasonic Motors

PRESENTED BY Biswa Mohan Pati Roll No 083339 Branch Electrical Engineering

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CONTENTS: Introduction History Classifications Basic Principle Linear USM Spherical USM Future Work Reference

Introduction: An ultrasonic motor (USM) converts ultrasonic

vibrations into linear or rotary motion. USMs plays an important role a few niche markets where the size, torque, speed or other requirements could not be satisfied by the traditional motors. The two largest markets for USMs are cameras and automotive but they are also found in medical equipment (MRIs) and as robotic servo motors. USMs are often called solid state motors because they have very few moving parts and they can be fabricated like integrated circuits to be either macroscopic or microscopic.

Classifications: USMs can be classified in the following ways:

Mode of operation: Static Resonant Type of motion: Rotary Linear Shape of implementation: Beam Rod Disk

Basic Principle: One thing all USMs have in common is their use of

piezoelectric material to transform electrical energy to mechanical energy. USMs typically use ceramics derived from leadzirconate titanate . After the ceramic is shaped and fired, it is then polarized by electric field.

 Like traditional motors, USMs have a stator and a rotor. Some USMs use a toothed stator to increase the holding

torque. Other motors simply rely on frictional forces. As shown in the illustration below, the bottom layer of the stator is composed of the ceramic material mentioned earlier.

 Two electrical signals with orthogonal modes (like

sin(wt) and cos(wt)) are introduced in the stator material. If a constant phase difference exists between the two modes, a traveling wave is created in the stator. Otherwise the wave is standing.

 The repeated rolling motion of the stator creates a

microscopic orbit of the stators surface particles (much like water drops in a water wave.) These small movements move the rotor forward. Thus, the traveling wave in the stator material moves in the opposite direction of the rotor spin.

 The stator may drive the rotor using tiny teeth or

simply the force of friction. While the angular velocity of the rotor is proportional to the frequency of the traveling wave, that does not mean they are equal. The traveling wave may pass through the stator several times for a single rotation of the rotor.

Linear USM:-

Linear USMs, sometimes called tube or rod

USMs, also use piezoelectric metals or ceramics. Here is a picture of tiny Squiggle motor. The Squiggle motor weighs about 30g and boasts a stall force of 10N and maximum speed of 15mm/sec.

 The Piezo LEGS motor is one popular technique for linear USM actuation. Like other USMs, the LEGS motor generates motion in discrete steps. 4 bimetallic metal/ceramic legs are positioned around a single nut on a threaded rod.

 Applying voltage to a PZT leg causes it to change shape.

This strain in the leg causes the nut to bend and shift on the threaded rod. By synchronizing the 4 legs in an elliptical force pattern, the rod moves in either forward or reverse direction. Because deformations are small, several thousand pulses/sec are needed.

Spherical USM: The concept of a spherical USM is simple.

Three separate ring USMs control actuation in the x, y and z directions. Thus, the sphere can be given any orientation in 3 space.

Presently a new type of spherical USM is under investigation. This particular USM consists of a thin square plate of 30x30mm in area. It can rotate in more than 4 individual directions.

Some applications where USMs have been used are:

Camera lens autofocus. Spacecraft planetary instruments. Medical equipment (MRIs etc). Small robotic joints.

Future Work: USMs have lots of potential for use in medical

applications. One very promising research area is in medical diagnostic instruments. There is a research going on to create a tiny robot called the Heart Lander. The Heart Lander is a tiny robot that surgeons could insert into a patients chest cavity.

This tiny robot could then move along the surface of the heart and perform interventions. The surgeon would be able to control every movement via a controller and monitor external to the patients body.

The major advantages of USMs are:

Compact, lightweight, flexible and robust. High positioning accuracy. High low-speed torque and holding torque. Unaffected by external electric or magnetic fields. Quiet drive system. Hard brake with no backlash. Variable stroke. Quick response.

History: 1980.

The first USM was developed by Sashida. 1986. Cannon pioneers the ring type USM for use in SLR camera lens autofocus. 1990. The first micro USM is developed by Canon to for a new camera autofocus. 2003. Cannon released a new micro USM that is the size of the first with the same output torque.

REFERENCE: A linear USM for Nano-Technology by Henery O. Choi. Journal by Mechatronics Literature Survey,Dept. of

Electrical and Computer Engineering Utah State University.

Rotary Ultrasonic Motors Actuated By Traveling

Flexural Waves. Retrieved March 3, 2009, from Nasa

Papers. http://ndeaa.jpl.nasa.gov/nasa-nde/lommas/spieusm97.htm. http://www.google.com www.ieeeexplorer.com