The concept of piezoelectric ring suspension in travelling wave piezoelectric motor

Abstract

An original concept of a piezoelectric ring suspension in travelling wave type piezoelectric motor for the application as an actuator in robots or robotic units preferably as locomotion unit in small size mobile robots is proposed. The essential novelty of the motor is the structure of its stator which consists of three piezo ceramic rings suspended by the means of active elements. The way how piezo ceramic ring is fixed has a great impact on dynamic characteristics and quality of vibrations (the travelling wave parameters) excited in it and on the piezoelectric motor dynamic characteristics. The results of numerical analysis of ring-shaped piezoelectric actuator with active elements of its suspension are presented and analyzed in this paper.