设计了一种空心圆柱超声电机，可实现紧凑无齿轮直驱。
Characterization and Design of A Hollow Cylindrical Ultrasonic Motor
- 采用空心圆柱结构，提升轻量化与抗不平衡能力。
- 在50g预压下实现383.3 rpm转速与57.35 mNm扭矩。
- 适合磁共振兼容机器人等精密驱动场景。
压电超声电机相比气动、液压等驱动装置具有结构紧凑、响应快、安装简便的优势，尤其其非铁磁特性使其在磁共振兼容机器人系统中优于传统直流电机。空心轴电机具备重量轻、与同直径实心轴相当、转动惯量低、对旋转不平衡容忍度高以及耐高温等优点。本文提出一种空心圆柱超声电机（HCM）原型，用于实现直驱，消除机械非线性，并减小执行器或末端执行器组件的尺寸与复杂度。文中介绍了两种等效的HCM结构，在50g预压力下，施加282$V_{pp}$驱动电压时，实现了383.3333 rpm的转速和57.3504 mNm的输出扭矩。
原文摘要 · Abstract (English)
Piezoelectric ultrasonic motors perform the advantages of compact design, faster reaction time, and simpler setup compared to other motion units such as pneumatic and hydraulic motors, especially its non-ferromagnetic property makes it a perfect match in MRI-compatible robotics systems compared to traditional DC motors. Hollow shaft motors address the advantages of being lightweight and comparable to solid shafts of the same diameter, low rotational inertia, high tolerance to rotational imbalance due to low weight, and tolerance to high temperature due to low specific mass. This article presents a prototype of a hollow cylindrical ultrasonic motor (HCM) to perform direct drive, eliminate mechanical non-linearity, and reduce the size and complexity of the actuator or end effector assembly. Two equivalent HCMs are presented in this work, and under 50g prepressure on the rotor, it performed 383.3333rpm rotation speed and 57.3504mNm torque output when applying 282$V_{pp}$ driving voltage.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。