Actionneurs piézoélectriques ultrasoniques miniatures pour la réalisation de moteurs sphériques compacts

Abstract : Multi-degree-of-freedom angular motors are used in numerous applications, such as robot articulations, omnidirectional wheels or the stabilization of optical components. Nevertheless, the classical method used to build such platforms limits the miniaturization of these devices. The use of a single spherical rotor is a solution which facilitates the realization of compact multi-degree-of-freedom angular systems. In this work, we propose a piezoelectric ultrasonic actuator adapted to the fabrication of compact spherical motors. The novelty of the developed actuator is the adapted contact surface that allows for an extended contact area and thus the complete guidance of a spherical rotor. The state of the art of single rotor spherical systems is presented along with a presentation of the theoretical considerations useful for the modeling and construction of ultrasonic motors. A complete model for the design of ultrasonic motors is also proposed, which describes the geometry of the actuator and its vibration modes, the analysis of the contact using a force transfer model and the electromechanical conversion using semi-analytical methods. An experimental prototype is proposed along with a characterization of the actuator performance. Experimental data is compared to the theoretical model and validates the proposed design method. Parameters such as electrical amplitude, preloading force and the extent of the contact area are analyzed. Although in this case we demonstrate the application of our design methodology to the specific case of a curved multi-mode actuator, the proposed methodology is general and can be adapted to the design of other ultrasonic systems.
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Edouard Leroy. Actionneurs piézoélectriques ultrasoniques miniatures pour la réalisation de moteurs sphériques compacts. Vibrations [physics.class-ph]. Ecole Polytechnique X, 2013. English. ⟨pastel-00927417⟩

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