振動片形超音波モータを指にもつロボットハンド第2報, : パルス幅変調による速度制御

概要

論文の詳細を見る
A vibration-type ultrasonic vibrator works as an ultrasonic motor when it is pressed slant wise against the surface of an object. This paper describes a robot hand with three fingers that each works as an ultrasonic motor. This robot hand can simultaneously grasp a cylindrical body and rotate the body about its axis. We propose a PWM (pulse width modulation), method for controlling the speed of ultrasonic motors by changing the duty ratio of the voltage applied to the motors. The vibration of the ultrasonic motor and the driving characteristics of a robot hand were examined experimentally. It was confirmed that the vibration speed of the tip of the ultrasonic motor was approximately proportional to the duty ratio of the applied voltage. The velocity of the motor increase with an increase in duty ratio, except for at the ofset region. The torque characteristic curves approach the point of origin, moving parallel as the duty ratio decreases.
大同工業大学の論文