CN108377107B - Three-degree-of-freedom spherical stator ultrasonic motor stator matrix and its motivational techniques - Google Patents
Three-degree-of-freedom spherical stator ultrasonic motor stator matrix and its motivational techniques Download PDFInfo
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- CN108377107B CN108377107B CN201810326358.1A CN201810326358A CN108377107B CN 108377107 B CN108377107 B CN 108377107B CN 201810326358 A CN201810326358 A CN 201810326358A CN 108377107 B CN108377107 B CN 108377107B
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- 239000011159 matrix material Substances 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 25
- 210000002683 foot Anatomy 0.000 claims abstract description 27
- 239000000919 ceramic Substances 0.000 claims abstract description 22
- 230000010287 polarization Effects 0.000 claims abstract description 7
- 230000010355 oscillation Effects 0.000 claims description 31
- 238000002604 ultrasonography Methods 0.000 abstract description 3
- 230000005611 electricity Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 239000000806 elastomer Substances 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/108—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors around multiple axes of rotation, e.g. spherical rotor motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/12—Constructional details
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/14—Drive circuits; Control arrangements or methods
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Abstract
Three-degree-of-freedom spherical stator ultrasonic motor stator matrix and its motivational techniques, are related to piezoelectric ultrasonic motor technical field.The present invention is to solve the problems, such as that it is not compact that the rotary-type Driven by Ultrasonic Motors of existing multiple degrees of freedom is sufficient less, driving capability is insufficient, structure is complicated, be difficult to realize miniaturization.The outer surface of piezoelectric ceramic ball shell is along the x-axis direction, it is symmetrically arranged the electrode compartments of a pair of of x-axis direction along the y-axis direction and along the z-axis direction, the electrode compartments of the electrode compartments in a pair of of y-axis direction and a pair of of z-axis direction, white space between all electrode compartments is non-electrode region, the polarization direction of each pair of electrode compartments is identical, it polarizes along sphere diameter thickness direction all electrode compartments, eight drivings are evenly arranged on non-electrode region enough, eight driving foots and the space quadrature of all electrode compartments are 45 °, the axis of each driving foot and the space phase angle of xoy plane are 45 °.It is for making multiple freedom degrees ultrasound motor.
Description
Technical field
The present invention relates to a kind of Three-degree-of-freedom spherical stator ultrasonic motor stator matrix and its motivational techniques, and it is super to belong to piezoelectricity
Sound technical field of motors.
Background technique
Piezoelectric ultrasonic motor is a kind of inverse piezoelectric effect using piezoelectric ceramics, is motivated in supersonic range in the elastomer
Vibration, the particle movement with particular track is formed in surface of elastomer specified point or specific region, so by stator, turn
The microscopic motion of particle is converted into the macroscopic motion of rotor by the friction coupling between son, is had low speed high torque, is not necessarily to speed change
Mechanism, without electromagnetic interference, fast response time and the advantages that cut off self-lock.
But traditional multiple freedom degrees ultrasound motor exist driving foot less, driving capability is insufficient, structure is complicated and it is not compact,
It is difficult to the problem of realizing miniaturization.
Summary of the invention
The present invention is that the rotary-type Driven by Ultrasonic Motors of existing multiple degrees of freedom is sufficient less, driving capability is insufficient, knot in order to solve
Structure complexity is not compact, is difficult to the problem of realizing miniaturization.Three-degree-of-freedom spherical stator ultrasonic motor stator matrix is now provided.
Three-degree-of-freedom spherical stator ultrasonic motor stator matrix, it includes piezoelectric ceramic ball shell 1 and eight drivings foot 2,
The outer surface of piezoelectric ceramic ball shell 1 has been symmetrically arranged a pair along the x-axis direction, along the y-axis direction and along the z-axis direction
The electrode compartments 5 of x-axis direction, the electrode compartments 6 in a pair of of y-axis direction and a pair of of z-axis direction electrode compartments 7,
White space between all electrode compartments is non-electrode region 4,
The polarization direction of each pair of electrode compartments is identical, and all electrode compartments are polarized along sphere diameter thickness direction,
Eight driving foots 2 are evenly arranged on non-electrode region 4, electrode compartments 5, the y of eight driving foots 2 and x-axis direction
The space quadrature of the electrode compartments 7 of the electrode compartments 6 and z-axis direction of axis direction is 45 °, it is each driving foot axis with
The space phase angle of xoy plane is 45 °.
The invention has the benefit that
The electrode compartments of the electrode compartments of the x-axis direction of the application, the electrode compartments in y-axis direction and z-axis direction are in space
Upper to be mutually perpendicular to each other, space quadrature is 90 °, when applying voltage to two axis top electrode subregion therein, due to
For two pairs of electrodes subregion there are space quadrature, the two groups of nutation type mode of oscillations motivated spatially differ 90 ° of phase angles,
By the superposition of two groups of nutation type mode of oscillations, thus driving sufficient end formation to rotate with driving rotor around third axis
Ellipse motion driven track；Phase relation by changing two-way driving voltage, which can be realized, is driven in the reverse direction rotor.
It is rotary-type super that the Three-degree-of-freedom spherical stator ultrasonic motor stator matrix of the application solves existing multiple degrees of freedom
That sound motor driven foot is less, driving capability is insufficient, structure is complicated is not compact, is difficult to the problems such as realizing miniaturization, and the application changes biography
System multiple freedom degrees ultrasound rotor is the normality of sphere.The application is the stator of ball-type, and the application is inclined using ball-type stator
The combination that pendulum-type vibrates mode of oscillation carrys out driving motor rotor around the rotation of three orthogonal directions, and the driving in each direction
All be to simultaneously participate in driving enough by eight drivings to complete, have it is simple and compact for structure, be easy to minimize and produce in batches etc. it is excellent
Point.
Detailed description of the invention
Fig. 1 is that the overall structure of Three-degree-of-freedom spherical stator ultrasonic motor stator matrix described in specific embodiment one is shown
It is intended to,
The schematic perspective view for the piezoelectric ceramic ball shell that Fig. 2 is made of electrode zone and non-electrode region,
Fig. 3 is the polarization direction of the electrode compartments of the electrode compartments of x-axis direction, the electrode compartments in y-axis direction and z-axis direction
Schematic diagram,
Fig. 4 is the wiring schematic diagram that the electrode compartments in y-axis direction and the electrode compartments in z-axis direction are applied with driving voltage,
Fig. 5 is the wiring schematic diagram that the electrode compartments of x-axis direction and the electrode compartments in z-axis direction are applied with driving voltage,
Fig. 6 is the wiring schematic diagram that the electrode compartments of x-axis direction and the electrode compartments in y-axis direction are applied with driving voltage.
Specific embodiment
Specific embodiment 1: illustrating present embodiment referring to figs. 1 to Fig. 3, three is free described in present embodiment
Ball-type stator ultrasonic motor stator matrix is spent, it includes piezoelectric ceramic ball shell 1 and eight drivings enough 2,
The outer surface of piezoelectric ceramic ball shell 1 has been symmetrically arranged a pair along the x-axis direction, along the y-axis direction and along the z-axis direction
The electrode compartments 5 of x-axis direction, the electrode compartments 6 in a pair of of y-axis direction and a pair of of z-axis direction electrode compartments 7,
White space between all electrode compartments is non-electrode region 4,
The polarization direction of each pair of electrode compartments is identical, and all electrode compartments are polarized along sphere diameter thickness direction,
Eight driving foots 2 are evenly arranged on non-electrode region 4, electrode compartments 5, the y of eight driving foots 2 and x-axis direction
The space quadrature of the electrode compartments 7 of the electrode compartments 6 and z-axis direction of axis direction is 45 °, it is each driving foot axis with
The space phase angle of xoy plane is 45 °.
In present embodiment, the electrode compartments 5 of a pair of of x-axis direction, the electrode compartments 6 in a pair of of y-axis direction and a pair of z-axis side
To electrode compartments 7 form electrode zone 3, eight drivings foot 2 is evenly arranged on non-electrode region 4, and each driving 2 is set enough
It sets on non-electrode region 4 adjacent with three electrode compartments at the same time, two opposite drivings of each electrode compartments peripheral location
The axis of foot 2 is mutually perpendicular to.It is such to arrange the Ellipse motion driven track for advantageously forming higher amplitudes, while symmetrical driving foot
Be conducive to improve the stability of stator base.
The polarization direction of each pair of electrode compartments is identical；Electrode zone 3 on all 1 surfaces of piezoelectric ceramic ball shell is along sphere diameter
Thickness direction polarization.Such be disposed with motivates identical frequency in three mutually orthogonal directions conducive to ball-type stator base
Beat mode of oscillation.
Specific embodiment 2: the excitation of Three-degree-of-freedom spherical stator ultrasonic motor stator matrix described in present embodiment
Method is realized based on Three-degree-of-freedom spherical stator ultrasonic motor stator matrix described in specific embodiment one, the excitation side
Method can motivate Three-degree-of-freedom spherical stator ultrasonic motor stator matrix realize three-degree-of-freedom motion, three degree of freedom include around x,
The ELLIPTIC REVOLUTION of y and z-axis；
The motivational techniques that Three-degree-of-freedom spherical stator ultrasonic motor stator matrix driving motor rotor rotates around x axis:
The electrode compartments 7 of electrode compartments 6 and z-axis direction to y-axis direction respectively apply a phase driving voltage, make piezoelectric ceramics
Spherical shell 1 generates the nutation type mode of oscillation along y and z-axis direction, so that the nutation type mode of oscillation along y and z-axis direction is superimposed, makes
2 ends of foot must be driven to form the Ellipse motion driven track that there is driving rotor to rotate around x axis；
The motivational techniques that Three-degree-of-freedom spherical stator ultrasonic motor stator matrix driving motor rotor is rotated around y-axis:
The electrode compartments 7 of electrode compartments 5 and z-axis direction to x-axis direction respectively apply a phase driving voltage, make piezoelectric ceramics
Spherical shell 1 generates the nutation type mode of oscillation along x and z-axis direction, so that the nutation type mode of oscillation along x and z-axis direction is superimposed, makes
2 ends of foot must be driven, which to be formed, has driving rotor around the Ellipse motion driven track that y-axis rotates；
The motivational techniques that Three-degree-of-freedom spherical stator ultrasonic motor stator matrix driving motor rotor is rotated around z-axis:
The electrode compartments 6 of electrode compartments 5 and y-axis direction to x-axis direction respectively apply a phase driving voltage, make piezoelectric ceramics
Spherical shell 1 generates the nutation type mode of oscillation along x and y-axis direction, so that the nutation type mode of oscillation along x and y-axis direction is superimposed, makes
2 ends of foot must be driven, which to be formed, has driving rotor around the Ellipse motion driven track that z-axis rotates.
In present embodiment, by the alternating voltage for applying nutation type resonance frequency to x-axis direction electrode compartments 5
Nutation type mode of oscillation along the x-axis direction is motivated in ball-type stator base；By applying partially to y-axis direction electrode compartments 6
The alternating voltage of pendulum-type resonance frequency can motivate nutation type mode of oscillation along the y-axis direction in ball-type stator base；It is logical
The alternating voltage for applying nutation type resonance frequency to z-axis direction electrode compartments 7 is crossed, edge can be motivated in ball-type stator base
The nutation type mode of oscillation in z-axis direction；
Electricity is motivated when applying the two-way that phase difference is 90 ° to y-axis direction electrode compartments 6 and z-axis direction electrode compartments 7 simultaneously
When pressure, since two pairs of electrodes subregion is there are space quadrature, the two groups of nutation type mode of oscillations motivated are spatially differed
90 ° of phase angles, by the superposition of two groups of nutation type mode of oscillations, to have driving rotor around x-axis driving sufficient end to be formed
The Ellipse motion driven track of rotation；
Electricity is motivated when applying the two-way that phase difference is 90 ° to x-axis direction electrode compartments 5 and z-axis direction electrode compartments 7 simultaneously
When pressure, since two pairs of electrodes subregion is there are space quadrature, the two groups of nutation type mode of oscillations motivated are spatially differed
90 ° of phase angles, by the superposition of two groups of nutation type mode of oscillations, to have driving rotor around y-axis driving sufficient end to be formed
The Ellipse motion driven track of rotation；
Electricity is motivated when applying the two-way that phase difference is 90 ° to x-axis direction electrode compartments 5 and y-axis direction electrode compartments 6 simultaneously
When pressure, since two pairs of electrodes subregion is there are space quadrature, the two groups of nutation type mode of oscillations motivated are spatially differed
90 ° of phase angles, by the superposition of two groups of nutation type mode of oscillations, to have driving rotor around z-axis driving sufficient end to be formed
The Ellipse motion driven track of rotation；
Phase relation by changing two-way driving voltage, which can be realized, is driven in the reverse direction rotor.
Specific embodiment 3: illustrating present embodiment referring to Fig. 4, present embodiment is to specific embodiment two
The motivational techniques of the Three-degree-of-freedom spherical stator ultrasonic motor stator matrix are described further, in present embodiment, to y
The electrode compartments 6 of axis direction and the electrode compartments 7 in z-axis direction apply the driving voltage that amplitude is 60V, and a phase amplitude is 60V
Reverse voltage positive and negative anodes be separately connected the electrode compartments 6 in a pair of of y-axis direction, another phase amplitude is that the reverse voltage of 60V is positive and negative
Pole is separately connected the electrode compartments 7 in a pair of of z-axis direction.
In present embodiment, as shown in figure 4, a phase amplitude is the positive U of the reverse voltage of 60VA+Connect the electricity in y-axis direction
The spherical shell outer surface of a subregion in pole subregion 6, a phase amplitude are the cathode U of the reverse voltage of 60VA-Connect the electricity in y-axis direction
The spherical shell outer surface of another subregion in pole subregion 6, so that piezoelectric ceramic ball shell 1 generates nutation type along the y-axis direction and vibrates mould
State；Another phase amplitude is the positive U of the reverse voltage of 60VB+It connects in the electrode compartments 7 in z-axis direction outside the spherical shell of a subregion
Surface, a phase amplitude are the cathode U of the reverse voltage of 60VB-Connect the spherical shell of another subregion in the electrode compartments 7 in z-axis direction
Outer surface, so that piezoelectric ceramic ball shell 1 generates nutation type mode of oscillation along the z-axis direction；To along the beat of y and z-axis direction
Formula mode of oscillation superposition, so that 2 ends of foot is driven to form the Ellipse motion driven track that there is driving rotor to rotate around x axis.
Specific embodiment 4: illustrating present embodiment referring to Fig. 5, present embodiment is to specific embodiment two
The motivational techniques of the Three-degree-of-freedom spherical stator ultrasonic motor stator matrix are described further, in present embodiment, to x
The electrode compartments 5 of axis direction and the electrode compartments 7 in z-axis direction apply the driving voltage that amplitude is 60V, and a phase amplitude is 60V
Reverse voltage positive and negative anodes be separately connected the electrode compartments 5 of a pair of of x-axis direction, another phase amplitude is that the reverse voltage of 60V is positive and negative
Pole is separately connected the electrode compartments 7 in a pair of of z-axis direction.
In present embodiment, as shown in figure 5, a phase amplitude is the positive U of the reverse voltage of 60VA+Connect the electricity of x-axis direction
The spherical shell outer surface of a subregion in pole subregion 5, a phase amplitude are the cathode U of the reverse voltage of 60VA-Connect the electricity of x-axis direction
The spherical shell outer surface of another subregion in pole subregion 5, so that piezoelectric ceramic ball shell 1 generates nutation type along the x-axis direction and vibrates mould
State；Another phase amplitude is the positive U of the reverse voltage of 60VB+It connects in the electrode compartments 7 in z-axis direction outside the spherical shell of a subregion
Surface, a phase amplitude are the cathode U of the reverse voltage of 60VB-Connect the spherical shell of another subregion in the electrode compartments 7 in z-axis direction
Outer surface, so that piezoelectric ceramic ball shell 1 generates nutation type mode of oscillation along the z-axis direction；To along the beat of x and z-axis direction
The superposition of formula mode of oscillation has driving rotor around the Ellipse motion driven track that y-axis rotates so that 2 ends of foot is driven to be formed.
Specific embodiment 5: illustrating present embodiment referring to Fig. 6, present embodiment is to specific embodiment two
The motivational techniques of the Three-degree-of-freedom spherical stator ultrasonic motor stator matrix are described further, in present embodiment, to z
The electrode compartments 5 of axis direction and the electrode compartments 6 in y-axis direction apply the driving voltage that amplitude is 60V, and a phase amplitude is 60V
Reverse voltage positive and negative anodes be separately connected the electrode compartments 5 in a pair of of z-axis direction, another phase amplitude is that the reverse voltage of 60V is positive and negative
Pole is separately connected the electrode compartments 6 in a pair of of y-axis direction.
In present embodiment, as shown in fig. 6, a phase amplitude is the positive U of the reverse voltage of 60VA+Connect the electricity of x-axis direction
The spherical shell outer surface of a subregion in pole subregion 5, a phase amplitude are the cathode U of the reverse voltage of 60VA-Connect the electricity of x-axis direction
The spherical shell outer surface of another subregion in pole subregion 5, so that piezoelectric ceramic ball shell 1 generates nutation type along the x-axis direction and vibrates mould
State；Another phase amplitude is the positive U of the reverse voltage of 60VB+It connects in the electrode compartments 6 in y-axis direction outside the spherical shell of a subregion
Surface, a phase amplitude are the cathode U of the reverse voltage of 60VB-Connect the spherical shell of another subregion in the electrode compartments 6 in y-axis direction
Outer surface, so that piezoelectric ceramic ball shell 1 generates nutation type mode of oscillation along the y-axis direction；To along the beat of x and y-axis direction
The superposition of formula mode of oscillation has driving rotor around the Ellipse motion driven track that z-axis rotates so that 2 ends of foot is driven to be formed；
By changing x-axis direction electrode compartments 5, y-axis direction electrode compartments 6 or z-axis direction electrode compartments 7 driving voltages
Phase relation, the negative sense by driving motor rotor around x-axis, y-axis or z-axis rotate.
Claims (5)
1. Three-degree-of-freedom spherical stator ultrasonic motor stator matrix, which is characterized in that it includes piezoelectric ceramic ball shell (1) and eight
Foot (2) is driven,
The outer surface of piezoelectric ceramic ball shell (1) has been symmetrically arranged a pair of of x along the x-axis direction, along the y-axis direction and along the z-axis direction
The electrode compartments (5) of axis direction, the electrode compartments (6) in a pair of of y-axis direction and a pair of z-axis direction electrode compartments (7),
White space between all electrode compartments is non-electrode region (4),
The polarization direction of each pair of electrode compartments is identical, and all electrode compartments are polarized along sphere diameter thickness direction,
Eight driving foots (2) are evenly arranged on non-electrode region (4), and eight drive the electrode compartments of foot (2) and x-axis direction
(5), the space quadrature of the electrode compartments (7) of the electrode compartments (6) and z-axis direction in y-axis direction is 45 °, each driving foot
Axis and xoy plane space phase angle be 45 °.
2. the motivational techniques of Three-degree-of-freedom spherical stator ultrasonic motor stator matrix, this method is based on described in claim 1
What Three-degree-of-freedom spherical stator ultrasonic motor stator matrix was realized, which is characterized in that the motivational techniques can motivate Three Degree Of Freedom
Ball-type stator ultrasonic motor stator matrix realizes three-degree-of-freedom motion, and three degree of freedom includes the ELLIPTIC REVOLUTION around x, y and z axes；
The motivational techniques that Three-degree-of-freedom spherical stator ultrasonic motor stator matrix driving motor rotor rotates around x axis:
The electrode compartments (7) of electrode compartments (6) and z-axis direction to y-axis direction respectively apply a phase driving voltage, make piezoelectric ceramics
Spherical shell (1) generates the nutation type mode of oscillation along y and z-axis direction, so that the nutation type mode of oscillation along y and z-axis direction is superimposed,
So that foot (2) end is driven to form the Ellipse motion driven track that there is driving rotor to rotate around x axis；
The motivational techniques that Three-degree-of-freedom spherical stator ultrasonic motor stator matrix driving motor rotor is rotated around y-axis:
The electrode compartments (7) of electrode compartments (5) and z-axis direction to x-axis direction respectively apply a phase driving voltage, make piezoelectric ceramics
Spherical shell (1) generates the nutation type mode of oscillation along x and z-axis direction, so that the nutation type mode of oscillation along x and z-axis direction is superimposed,
Have driving rotor around the Ellipse motion driven track that y-axis rotates so that foot (2) end is driven to be formed；
The motivational techniques that Three-degree-of-freedom spherical stator ultrasonic motor stator matrix driving motor rotor is rotated around z-axis:
The electrode compartments (6) of electrode compartments (5) and y-axis direction to x-axis direction respectively apply a phase driving voltage, make piezoelectric ceramics
Spherical shell (1) generates the nutation type mode of oscillation along x and y-axis direction, so that the nutation type mode of oscillation along x and y-axis direction is superimposed,
Have driving rotor around the Ellipse motion driven track that z-axis rotates so that foot (2) end is driven to be formed.
3. the motivational techniques of Three-degree-of-freedom spherical stator ultrasonic motor stator matrix according to claim 2, feature exist
In in the motivational techniques that Three-degree-of-freedom spherical stator ultrasonic motor stator matrix driving motor rotor rotates around x axis, to y-axis
The electrode compartments (6) in direction and the electrode compartments (7) in z-axis direction apply the driving voltage that amplitude is 60V, and a phase amplitude is
The reverse voltage positive and negative anodes of 60V are separately connected the electrode compartments (6) in a pair of of y-axis direction, and another phase amplitude is the reverse voltage of 60V
Positive and negative anodes are separately connected the electrode compartments (7) in a pair of of z-axis direction.
4. the motivational techniques of Three-degree-of-freedom spherical stator ultrasonic motor stator matrix according to claim 2, feature exist
In in Three-degree-of-freedom spherical stator ultrasonic motor stator matrix driving motor rotor in the motivational techniques that y-axis rotates, to x-axis
The electrode compartments (5) in direction and the electrode compartments (7) in z-axis direction apply the driving voltage that amplitude is 60V, and a phase amplitude is
The reverse voltage positive and negative anodes of 60V are separately connected the electrode compartments (5) of a pair of of x-axis direction, and another phase amplitude is the reverse voltage of 60V
Positive and negative anodes are separately connected the electrode compartments (7) in a pair of of z-axis direction.
5. the motivational techniques of Three-degree-of-freedom spherical stator ultrasonic motor stator matrix according to claim 2, feature exist
In in Three-degree-of-freedom spherical stator ultrasonic motor stator matrix driving motor rotor in the motivational techniques that z-axis rotates, to x-axis
The electrode compartments (5) in direction and the electrode compartments (6) in y-axis direction apply the driving voltage that amplitude is 60V, and a phase amplitude is
The reverse voltage positive and negative anodes of 60V are separately connected the electrode compartments (5) of a pair of of x-axis direction, and another phase amplitude is the reverse voltage of 60V
Positive and negative anodes are separately connected the electrode compartments (6) in a pair of of y-axis direction.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04145877A (en) * | 1990-10-03 | 1992-05-19 | Fukoku Co Ltd | Multi-axis control motor |
| CN102355103A (en) * | 2011-09-20 | 2012-02-15 | 北京航空航天大学 | Electromagnetic-piezoelectric-mixed-driving-based three-degree-of-freedom spherical motor |
| BR102013021911A2 (en) * | 2013-08-28 | 2015-11-17 | Maxilaser Indústria Metalúrgica Ltda | threaded ball joint for modular furniture composition |
| CN107517022A (en) * | 2017-08-04 | 2017-12-26 | 上海交通大学 | A kind of ultrasound electric machine with two degrees of freedom based on three PZT (piezoelectric transducer) combined-stators |
| CN105932903B (en) * | 2016-06-14 | 2018-01-05 | 南京理工大学 | A kind of bullet arrangement for deflecting based on spherical multi-freedom piezoelectric actuator |
-
2018
- 2018-04-12 CN CN201810326358.1A patent/CN108377107B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04145877A (en) * | 1990-10-03 | 1992-05-19 | Fukoku Co Ltd | Multi-axis control motor |
| CN102355103A (en) * | 2011-09-20 | 2012-02-15 | 北京航空航天大学 | Electromagnetic-piezoelectric-mixed-driving-based three-degree-of-freedom spherical motor |
| BR102013021911A2 (en) * | 2013-08-28 | 2015-11-17 | Maxilaser Indústria Metalúrgica Ltda | threaded ball joint for modular furniture composition |
| CN105932903B (en) * | 2016-06-14 | 2018-01-05 | 南京理工大学 | A kind of bullet arrangement for deflecting based on spherical multi-freedom piezoelectric actuator |
| CN107517022A (en) * | 2017-08-04 | 2017-12-26 | 上海交通大学 | A kind of ultrasound electric machine with two degrees of freedom based on three PZT (piezoelectric transducer) combined-stators |
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| CN108377107A (en) | 2018-08-07 |
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