Kinetic model of 3-degree freedom ultrasonic motor with cylinder stator

Based on the vibration modes of the cylinder stator by finite elements analysis (FEM), the kinetic model of locus is presented for the 3-DOF USM with spherical rotor and cylinder stator in this paper. The geometric locus of particles on the top of the cylinder stator, including the vibration amplitudes of two bending modes are equal to the longitudinal mode or not, has been already drawn out in theory and simulated by the software programmed by the author in 3-dimensional color display, some motion locus has been also discussed. The results of the kinetic model can be the key and prerequisite of the control strategy for 3-DOF USM, and the kinetic equation can be the basis of increasing conversion efficiency from stator vibration to mechanical output of the 3-DOF motor, the optimized designing of cylinder stator.