Development of a spherical ultrasonic motor with an attitude sensing system using optical fibers

Tomoaki Mashimo, Kosuke Awaga, Shigeki Toyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

43 Citations (Scopus)

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 0.5°.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages4466-4471
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/TerritoryItaly
CityRome
Period4/10/074/14/07

Keywords

  • Attitude sensing
  • Geometrical optics
  • Neural network
  • Spherical ultrasonic motor

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Development of a spherical ultrasonic motor with an attitude sensing system using optical fibers'. Together they form a unique fingerprint.

Cite this