Title :
Development of a Spherical Ultrasonic Motor with an Attitude Sensing System using Optical Fibers
Author :
Mashimo, Tomoaki ; Awaga, Kosuke ; Toyama, Shigeki
Author_Institution :
Dept. of Mech. Syst. Eng., Tokyo Univ. of Agric. & Technol.
Abstract :
We present a spherical ultrasonic motor (SUSM) and an attitude sensing system using optical fibers for the SUSM. The SUSM is constructed from three ring-shaped stators and a spherical rotor, and has three degrees of freedom (DOF). It has good responsiveness, high positioning accuracy, and strong magnetic field compatibility. In the attitude sensing system, a flat mirror is built in the spherical rotor. Light is emitted to the mirror, and the reflection is caught by optical fibers. The light intensities captured by the optical fibers are processed by a neural network and are converted to attitude information for the spherical rotor. We describe a system comprising the SUSM and the attitude sensing system with its design derived from mechanics and optics. The prototype SUSM is 26mm in diameter and was actuated by the attitude sensing system. Position errors with respect to x and y axes are less than 0.5deg.
Keywords :
neural nets; optical fibres; rotors; stators; ultrasonic motors; attitude sensing system; neural network; optical fibers; spherical ultrasonic motor; three ring-shaped stators; Delay; Magnetic fields; Mirrors; Neural networks; Optical computing; Optical design; Optical fibers; Optical reflection; Rotors; Stators; Spherical ultrasonic motor; attitude sensing; geometrical optics; neural network;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.364167