• 한국농업기계학회:학술대회논문집
• /
• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.III
• /
• pp.707-714
• /
• 2000

For self-guiding track-type orchard sprayer, a low-cost steering controller was developed using two ultrasonic sensors, two DC motors and 80196kc microprocessor. The operating principle of controller was to travel the sprayer between artificial targets such as wood stick placed every 1 m along both sides of the demanded path of speed sprayer. Measuring distances to both targets ahead with the ultrasonic sensors mounted on the front end of sprayer, the controller could determine how much offset the position of sprayer was laterally. Then the steering angle was calculated to actuate DC motors connected to the steering clutches, where the fuzzy control algorithm was used. Equipped with the controller developed in this research, the sprayer could be traveled along demanded path, the centerline between targets, at speeds of up to 0.4m/sec with an accuracy of ${\pm}$20cm.

• 한국전기전자재료학회:학술대회논문집
• /
• 한국전기전자재료학회 2001년도 하계학술대회 논문집
• /
• pp.664-667
• /
• 2001

A flat-type L$_1$-B$_{8}$ Mode Ultrasonic motor(USM) uses longitudinal-bending multi-mode vibrator which is constructed with the metal-piezoceramic composite thin plate vibrator. Especially, the characteristics of vibrating displacement of the vibrator are important for the fabrication of USM. So, in this study, we tried to analyze them by the FEM(finite element method) simulation program. ANSYS 5.6 we used is a finite element software enabling the analysis of 2 or 3 dimensional structure of piezoelectric materials. Using this made us analyzing the resonance frequency and calculating displacement of vibrator and then the position of the projection.n.

• 한국전기전자재료학회:학술대회논문집
• /
• 한국전기전자재료학회 2002년도 하계학술대회 논문집 Vol.3 No.2
• /
• pp.674-677
• /
• 2002

In this paper, two kinds of windmill type motors which have a disk shape and a ring shape piezoelectric ceramics were studied. And characteristics of two models were compared with each others. A windmill type ultrasonic motor is composed of a stator, a rotor, and a ball bearing. The stator is made of a piezoelectric ceramics and two metals endcaps. When the piezoelectric ceramics vibrate, displacement of torsonal vibration appear at metal endcaps. The motor with 11.0[mm] diameter was studied by finite element analysis. The voltage of 100[V] was supplied at each model. Resonance frequency of 206.875[KHz] was obtained at the disk type, but ring type was 137.562[KHz]. The maximum torsonal displacement of $1.112[{\mu}m]$ was obtained at the disk type, but ring type was $1.698[{\mu}m]$.

• 대한기계학회논문집A
• /
• 제25권6호
• /
• pp.938-948
• /
• 2001

In this paper, we present an exoskeletal haptic device named SKK Hand Master. This device is directly driven linkages actuated with small ultrasonic motors. By adopting ultrasonic motors that have advantageous features useful for cybernetic actuators, a compact haptic device containing whole driving packages can be established without additional power transmissions such as tendons. Methods for measuring joint postures and joint torques are developed and a new control strategy called PWM/PS is proposed to overcome intrinsic disadvantages such as hysteresis. Issues regarding design and construction of the device are addressed and several results of experiments for the evaluations of performance are included.

• 대한전기학회논문지:전기물성ㆍ응용부문C
• /
• 제50권3호
• /
• pp.105-109
• /
• 2001

In this paper, the windmill type ultrasonic motors with 11.35 mm diameter, 2.87 mm thickness of metal endcap and 1.47 g weight were fabricated. Effects of slots and thickness on torque characteristic in the windmill type ultrasonic motor were investigated, when stator's slots were changed from 4, 6, 8 and thickness 0.15 mm, respectively. Specially designed metal endcaps with windmill shaped cutting can provide longitudinal and torsional displacements simultaneously as the ceramic disk vibrates radically. The windmill type ultrasonic motor has only three components: a stator element with windmill shape slotted metal endcap, a rotor and bearing. Ultrasonic motor stimulated to ultrasonic oscillations by piezoelectrics to drive a rotor via friction contact. The ultrasonic motor fabricated here was the windmill type ultrasonic motor operated by single-phase AC source. Bidirectional revolution using single-phase high frequency for driving the ultrasonic motor was presented.

• 한국전기전자재료학회:학술대회논문집
• /
• 한국전기전자재료학회 2007년도 하계학술대회 논문집 Vol.8
• /
• pp.263-265
• /
• 2007

An ultrasonic linear motor using lambda shape vibrators has been designed and fabricated. The multiway ultrasonic motors mainly consist of an lambda shape ultrasonic vibrator which generates elliptical motions in beat. The lambda shape ultrasonic linear motor use longitudinal and bending vibration mode. In order to high precision motion control and multiway moving, piezoceramics were adhered to lambda shape brass elastic material. The finite element method was used to optimize dimension of ultrasonic vibrator and direction of vibratory displacement. As a result of estimating the characteristics of the ultrasonic linear motor, The results have shown that the lambda shape ultrasonic linear motor can be moved multiwav by using the phase control. Close agreement between the FEM results and experimental results obtained for the lambda shape ultrasonic linear motor.

• 한국전기전자재료학회:학술대회논문집
• /
• 한국전기전자재료학회 2000년도 추계학술대회 논문집
• /
• pp.204-207
• /
• 2000

An ultrasonic linear motor was composed of a slider and a stator vibrator including piezoelectric material and elastic material. The ultrasonic linear motors mainly consist of an ultrasonic vibrator which generates elliptical oscillations. L$_1$-B$_4$ ultrasonic linear motor use longitudinal and bending multi-vibration. In order to low driving voltage and improve the life time of the ultrasonic oscillator, we used stacked piezoceramics. Stacked piezoceramics are adhered to aluminum elastic material. The finite element method was used to optimize dimension of ultrasonic vibrator and direction of vibratory displacement. As a result of estimating the characteristics of the ultrasonic linear motor, no-load velocity was 2.04[m/s] when applied voltage was 70[V$\sub$rms/] in resonance frequency.

• 한국전기전자재료학회:학술대회논문집
• /
• 한국전기전자재료학회 2010년도 하계학술대회 논문집
• /
• pp.320-320
• /
• 2010

In the case of existing ultrasonic motors, they have characteristics such as outstanding response speed, speed and high efficiency. However, it's very hard to use practically them as small motors due to complicated structure and expensive cost. This paper proposed v-type ultrasonic linear motor. Stator of the motor is composed of thin elastic body and four ceramics attached to upper and bottom areas of the body. The ceramics have each direction of polarization. When two harmonic voltages which had $90^{\circ}$ phase difference were applied to the ceramics, the symmetric and anti-symmetric displacements were generated at the tip to make the elliptical motion. To find out a model that generates maximum displacement at contact tip, FEM program was used with change of leg-angle. In addition, optimal model was chosen by considering magnitude and shape of displacement according to change of frequency.

• 한국전기전자재료학회논문지
• /
• 제21권4호
• /
• pp.335-340
• /
• 2008

In this study, novel structured thin ultrasonic rotary motor has been proposed. Ultrasonic motors are based on an elliptical motion on the surface of elastic body. Thin brass plate was used as a cross shaped vibrator and eight ceramic plates were attached on upper side and bottom side of the brass plate. From the thin stator, elliptical displacements of the four contact tips were obtained. To find the optimal size of the stator, motions of the motors were simulated using ATILA by changing length, width and thickness of the ceramics. The stators had commonly three resonance peaks and contact tips of the stator moved on tangential or normal trajectories at these resonance peaks. The maximum displacements at the resonance peaks were compared. As results, maximum displacements of the contact tips were obtained at the length of 16 mm, width of 6 mm and thickness of 0.4 mm. Changes of the resonance frequencies were inversely proportional to the length of ceramic and proportional to the width of ceramic. The motor was fabricated by using the designed stator. And, the characteristics of the motor were compared with the simulated results. When the motor was fabricated with these results, speed fo 935 rpm was obtained by input voltage of 25 Vrms at 93.5 kHz.

• 제어로봇시스템학회논문지
• /
• 제20권10호
• /
• pp.1036-1043
• /
• 2014

In this paper, a new haptic device is proposed for the teleoperation, which can recognize the invisible environment of a mobile robot. With this new device, it is possible for the user to identify the location of an obstacle and to avoid it. The haptic device has been attached on the top of a joystick so that the user can remotely control the mobile robot to avoid the obstacles which are recognized by the ultrasonic sensors. Also, the invisible environment is recognized more accurately overlapping the data from the ultrasonic sensors. There are five vibration motors in the haptic device to indicate the direction of the obstacle. So the direction of the obstacle can be recognized by the vibration at the finger on each vibration motor. For various situations and surrounding environments, experiments are performed using fuzzy controller and overlapping ultrasonic sensors. The results demonstrate the effectiveness of the proposed haptic joystick.