A 3PRR parallel precision positioning system, driven by three ultrasonic linear motors, was designed for use as the object stage of a scanning electron microscope (SEM). To improve the tracking accuracy of the parallel platform, the positioning control algorithms for the drive joints needed to be studied. The deadzone phenomenon caused by static friction reduces the trajectory tracking accuracy...

We present a pipe inspection robot using a newly developed spherical ultrasonic motor (SUSM) as a camera actuator. The novel SUSM has improved the range of movement compared to previous SUSMs, and the robot can point a camera in any direction. In this study, we determined a method for controlling the rotational direction and strategic control from the kinematics and characteristics of ultrasoni...

We report the development of a manipulator using a spherical ultrasonic motor (SUSM) and the magnetic resonance imaging (MRI)-compatibility of the SUSM. The SUSM is constructed of three ring-shaped stators and a spherical rotor and has two or three degrees of freedom (DOF). In the present study, a novel SUSM composed of non-magnetic materials has been constructed. In an MRI-compatibility test o...

In this paper, we present a new method based on Optimal Safety Factors (OSF) in the context of the Reliability-Based Design Optimization (RBDO) analysis of ultrasonic motors with traveling wave taking into account the contact between the different components (stator and rotor). We will underline also the different methods of the RBDO analysis and we highlight the advantage of our approach based...

This paper presents a Miniature Aerial Vehicle (MAV) capable of handsoff autonomous operation within indoor environments. Our prototype is a Quadrotor weighing approximately 600g, with a diameter of 550mm, which carries the necessary electronics for stability control, altitude control, collision avoidance and anti-drift control. This MAV is equipped with three rate gyroscopes, three acceleromet...

The ineluctable change to micro and subsequently nano has engendered the need for precision control and actuation. With Piezoelectric technology at the heart, a new type of motor is improving small-scale motion systems in a big way. In the following study a novel design of a travelling-wave-type motor based on flexural excitations (d-15 effect) is analyzed using finite element method. The objec...

This study presents a supervisory genetic algorithm (SGA) control system for a linear ultrasonic motor (LUSM) driven by a two-inductance two-capacitance (LLCC) resonant driving circuit. First, the motor configuration and driving circuit of an LUSM are introduced, and its hypothetical dynamic model is described briefly. Since the dynamic characteristics and motor parameters of the LUSM are highl...