Piezoelectric ultrasonic motors (PUMs) fill a unique niche in mechatronic actuators. The motors are lightweight, simple, and reliable, containing a single moving part that provides the function of motor, transmission, and brake. They are ideal for a variety of robotic applications as well as commercial and medical applications. In order to exploit PUMs fully, computationally efficient models of dynamic response, capturing all important dynamics, are needed. This paper describes the experimental characterization of the dynamic response of a typical commercial PUM (Shinsei USR-30) using an inertial load and evaluation of three classes of dynamic models: second-order predictive (physics-based) models, algebraic (curve fitting) descriptive models, and neural network approximation.
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ASME 2005 International Mechanical Engineering Congress and Exposition
November 5–11, 2005
Orlando, Florida, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
0-7918-4216-9
PROCEEDINGS PAPER
Dynamic Response Modeling of Piezoelectric Ultrasonic Motors Available to Purchase
Charanya Aswatharanayan,
Charanya Aswatharanayan
University of Houston
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Mary Randolph-Gips,
Mary Randolph-Gips
University of Houston
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Joseph J. Chakkungal
Joseph J. Chakkungal
Rice University
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James B. Dabney
University of Houston
Thomas L. Harman
University of Houston
Charanya Aswatharanayan
University of Houston
Mary Randolph-Gips
University of Houston
Fathi H. Ghorbel
Rice University
Joseph J. Chakkungal
Rice University
Paper No:
IMECE2005-82731, pp. 1723-1731; 9 pages
Published Online:
February 5, 2008
Citation
Dabney, JB, Harman, TL, Aswatharanayan, C, Randolph-Gips, M, Ghorbel, FH, & Chakkungal, JJ. "Dynamic Response Modeling of Piezoelectric Ultrasonic Motors." Proceedings of the ASME 2005 International Mechanical Engineering Congress and Exposition. Dynamic Systems and Control, Parts A and B. Orlando, Florida, USA. November 5–11, 2005. pp. 1723-1731. ASME. https://doi.org/10.1115/IMECE2005-82731
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