Preload Optimization Method for Traveling-Wave Rotary Ultrasonic Motor

Preload optimization is very important for ultrasonic motors’ design and application. In this paper, a novel method for a traveling-wave rotary ultrasonic motor is proposed. Firstly, based on linear regression and the analytic hierarchy process (AHP), the mapping between the drive characteristics, mechanical characteristics, speed stability, and preload of the traveling-wave-type rotary ultrasonic motor was established. Then, the characteristic curves of stalling torque, no-load speed, maximum efficiency, and speed stability with the change of preload method were measured with a new test platform. Finally, three traveling-wave rotary ultrasonic motors with optimized preload were used in a cooperative manipulator for validation. The experimental results showed that when the preload was optimized from 200 N to 310 N, the stalling torque of the motor increased by 20.7%, the maximum efficiency increased by 15.3%, the standard deviation of the speed decreased by 53.8%, and the no-load speed decreased by 5.5%. Therefore, it can be seen that the new preload optimization approach can significantly improve the performance indexes of ultrasonic motors and meet the practical requirements of direct-drive cooperative manipulators in engineering applications. The new preload optimization method offers advantages in motor output performance compared to conventional methods.

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Effects of Ultrasonic Motor Stator Teeth Height on Start Reliability

Energy Harvesting and Systems ◽

10.1515/ehs-2014-0028 ◽

2015 ◽

Vol 0 (0) ◽

Cited By ~ 1

Author(s):

Wei Zheng ◽

Jing-Liang Zhou ◽

Yu-Zhen Ruan

Keyword(s):

Finite Element Analysis ◽

Finite Element ◽

Traveling Wave ◽

Ultrasonic Motor ◽

Wave Type ◽

Element Analysis ◽

Factors Affecting ◽

Ultrasonic Motors ◽

Wide Range ◽

New Type

AbstractAs a new type of motor, the traveling wave type rotary ultrasonic motors (TRUM) have a wide range of applications. However, the friction between stator and rotor leads to its poor start reliability, which retards the progress of application of ultrasonic motors. Sometimes TRUMs which are widely used cannot start after storage. Height of tooth of the ultrasonic motor’s stator is one of the factors affecting TRUM’s start stabilizing. In this paper, combined with the ultrasonic motor running mechanism, the factors that affect TRUM’s start reliability are studied. Model of ultrasonic motor stator tooth height is analyzed by finite element analysis (FEA). Five TRUMs with different tooth heights are fabricated and measured. A TRUM with 1.85 mm tooth height can start properly in humidity 90%, but ultrasonic motors with 1.8–1.9 mm tooth height cannot start properly under the same conditions.

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525 Robot hand with fingers using Vibration-Type Ultrasonic Motors : Grasping Force Control by Traveling Wave-Type Ultrasonic Motor under PWM

The Proceedings of Conference of Tokai Branch ◽

10.1299/jsmetokai.2000.49.303 ◽

2000 ◽

Vol 2000.49 (0) ◽

pp. 303-304

Author(s):

Kenji NISHIBORI ◽

Setsuya KONDO ◽

akato TAKEUCHI

Keyword(s):

Force Control ◽

Traveling Wave ◽

Ultrasonic Motor ◽

Robot Hand ◽

Wave Type ◽

Ultrasonic Motors ◽

Grasping Force

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A NOVEL INVERTER-DRIVE ULTRASONIC MOTOR-ACTUATED POSITIONING SERVO MOTION SYSTEM USING A FUZZY REASONING CONTROL SCHEME

Journal of Circuits System and Computers ◽

10.1142/s0218126694000235 ◽

1994 ◽

Vol 04 (04) ◽

pp. 395-414 ◽

Cited By ~ 7

Author(s):

SHIN-ICHI FURUYA ◽

YASUYUKI OHKURA ◽

TORU MARUHASHI ◽

MUTSUO NAKAOKA

Keyword(s):

Steady State ◽

Traveling Wave ◽

Fuzzy Reasoning ◽

Ultrasonic Motor ◽

Direct Drive ◽

Wave Type ◽

State Variable ◽

Motion System ◽

Control Scheme ◽

Application Specific

This paper presents the operating principle of the ultrasonic motor (USM) as a new actuator and its steady-state characteristics for application-specific servo motion systems. The latest developed inverter-drive traveling wave type ultrasonic motor (TUSM) is suitable for direct-drive motion systems. We describe a positioning servo motion system using the TUSM, which operates under a feasible fuzzy-reasoning controller with velocity and positional state-variable feedback schemes. Experimental verifications are given and their results are evaluated using a one-axis servo motion drive system. It is also proved that a new compact direct-drive servo motion system using inverter-fed USM which incorporates a microprocessor-based two-input and one-output fuzzy-reasoning controller is more acceptable for a specific direct-drive application.

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Realization of the Ultrasonic Motor Speed Control System Based on H-Bridge

Mathematical Problems in Engineering ◽

10.1155/2021/8106164 ◽

2021 ◽

Vol 2021 ◽

pp. 1-12

Author(s):

Tan Jiawan ◽

Yan Langtao ◽

Liu Yusheng ◽

Huang Sanshan

Keyword(s):

Control Strategy ◽

Traveling Wave ◽

Ultrasonic Motor ◽

Stability Control ◽

Rotor Speed ◽

Motor Speed ◽

Two Phase ◽

Simulink Simulation ◽

Speed Stability ◽

The Mathematical Model

In view of the requirement that the speed of rotor speed of ultrasonic motor can be stabilized quickly, combined with the mathematical model of two-phase traveling wave ultrasonic motor, we designed the rotor speed stability control strategy of the two-phase traveling wave ultrasonic motor based on voltage and current double feedback. We simulated, analyzed, and verified the designed strategy using Matlab/Simulink simulation tool. The rationality of the simulation results proves the correctness of the designed control strategy, which lays a theoretical foundation for the production design of two-phase traveling wave ultrasonic motor.

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Beat traveling wave principle and its verification on rotating ultrasonic motor

Journal of Vibration and Control ◽

10.1177/1077546320960354 ◽

2020 ◽

pp. 107754632096035

Author(s):

Lin Yang ◽

Chengcheng Ma ◽

Weihao Ren ◽

Jiaojiao Zhang

Keyword(s):

Traveling Wave ◽

Periodic Variation ◽

Ultrasonic Motor ◽

Propagation Direction ◽

Good Prospect ◽

Amplitude Variation ◽

Wave Propagation Direction ◽

Ultrasonic Motors ◽

Derivative Method ◽

Theoretical Analyses

A beat traveling wave principle which combines beat vibration with a traveling wave is proposed. Based on the traveling wave principle and the beat vibration theory, a mathematical model is established to analyze the operation law of the beat traveling wave. Theoretical analyses and numerical simulations are used to study the amplitude variation of the beat traveling wave. Then, a spatial–temporal partial derivative method is developed to study the changing law of the beat traveling wave propagation direction. The research shows that the beat traveling wave is a waveform with periodic variation of both amplitude and propagation directions. An ultrasonic motor, as a potential application field of the beat wave traveling, is investigated deeply during the research. As a driving principle, the beat wave traveling can efficiently and conveniently realize the continuous reciprocating operation on ultrasonic motors. The beat traveling wave principle and its applicability are verified by finite element simulations and experiments. Meanwhile, a good prospect of its application is also given in this study.

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An Adaptive Metamodel-Based Optimization Approach for Vehicle Suspension System Design

Mathematical Problems in Engineering ◽

10.1155/2014/965157 ◽

2014 ◽

Vol 2014 ◽

pp. 1-9 ◽

Cited By ~ 3

Author(s):

Qinwen Yang ◽

Jin Huang ◽

Gang Wang ◽

Hamid Reza Karimi

Keyword(s):

Performance Optimization ◽

Optimization Method ◽

Suspension System ◽

Vehicle Suspension ◽

Optimization Approach ◽

Adaptive Optimization ◽

Performance Indexes ◽

Parameter Interval ◽

Kinematic Performance ◽

Vehicle Suspension System

The performance index of a suspension system is a function of the maximum and minimum values over the parameter interval. Thus metamodel-based techniques can be used for designing suspension system hardpoints locations. In this study, an adaptive metamodel-based optimization approach is used to find the proper locations of the hardpoints, with the objectives considering the kinematic performance of the suspension. The adaptive optimization method helps to find the optimum locations of the hardpoints efficiently as it may be unachievable through manually adjusting. For each iteration in the process of adaptive optimization, prediction uncertainty is considered and the multiobjective optimization method is applied to optimize all the performance indexes simultaneously. It is shown that the proposed optimization method is effective while being applied in the kinematic performance optimization of a McPherson suspension system.

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The Application of the Combination of Monte Carlo Optimization Method based QSAR Modeling and Molecular Docking in Drug Design and Development

Mini-Reviews in Medicinal Chemistry ◽

10.2174/1389557520666200212111428 ◽

2020 ◽

Vol 20 (14) ◽

pp. 1389-1402 ◽

Cited By ~ 1

Author(s):

Maja Zivkovic ◽

Marko Zlatanovic ◽

Nevena Zlatanovic ◽

Mladjan Golubović ◽

Aleksandar M. Veselinović

Keyword(s):

Monte Carlo ◽

Molecular Docking ◽

Computer Calculation ◽

Molecular Graph ◽

Optimization Method ◽

Docking Studies ◽

Optimization Approach ◽

Qsar Modeling ◽

Monte Carlo Optimization ◽

Molecular Docking Studies

In recent years, one of the promising approaches in the QSAR modeling Monte Carlo optimization approach as conformation independent method, has emerged. Monte Carlo optimization has proven to be a valuable tool in chemoinformatics, and this review presents its application in drug discovery and design. In this review, the basic principles and important features of these methods are discussed as well as the advantages of conformation independent optimal descriptors developed from the molecular graph and the Simplified Molecular Input Line Entry System (SMILES) notation compared to commonly used descriptors in QSAR modeling. This review presents the summary of obtained results from Monte Carlo optimization-based QSAR modeling with the further addition of molecular docking studies applied for various pharmacologically important endpoints. SMILES notation based optimal descriptors, defined as molecular fragments, identified as main contributors to the increase/ decrease of biological activity, which are used further to design compounds with targeted activity based on computer calculation, are presented. In this mini-review, research papers in which molecular docking was applied as an additional method to design molecules to validate their activity further, are summarized. These papers present a very good correlation among results obtained from Monte Carlo optimization modeling and molecular docking studies.

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