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Please use this identifier to cite or link to this item: http://hdl.handle.net/11133/883

Title: 位相制御による超音波モータの可変コンプライアント動作
Other Titles: イソウ セイギョ ニヨル チョウオンパ モータ ノ カヘン コンプライアント ドウサ
Adjustable Compliant Motion of Ultrasonic Motor by Phase Shift Control
Authors: 加藤, 厚生
KATO, Atsuo
Issue Date: 31-Mar-1992
Publisher: 愛知工業大学
Abstract: It is an important problem to realise a contact task manipulator, for example an prosthetic arm. One approach to that is an adjustable compliance control. We developed an adjustable compliance actuator system for a prosthetic arm using phase control and angle control of a traveling wave ultrasonic motor. The traveling wave ultrasonic motor is driven by two-phase sine wave signals, and the phase difference of two signals is usually selecteted to 90deg. But in our system, the phase difference is adjusted in the range from +90 to -90deg by angle of the output shaft of the motor. Our system acts as a spiral spring with little damping.
URI: http://hdl.handle.net/11133/883
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