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