An electromechanical integrated harmonic piezodrive system is proposed. The key of the proposed piezodrive system is the integration of the piezodrive principle with the harmonic drive and the movable tooth drive principles, which changes the sliding friction between the rotor and the vibrator into a rolling mesh. It can substantially increase the system's output torque, operating life, and efficiency. In this paper, the design of the drive system and its operating principles are presented. Under piezoelectric excitation, the deformation energy of the flexible ring was analyzed and the output torque of the drive system was calculated, revealing that the drive system produces a higher output torque than does a normal bar-type ultrasonic motor.

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