| Budget Amount *help |
¥16,510,000 (Direct Cost: ¥12,700,000、Indirect Cost: ¥3,810,000)
Fiscal Year 2017: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
Fiscal Year 2016: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Fiscal Year 2015: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2014: ¥6,500,000 (Direct Cost: ¥5,000,000、Indirect Cost: ¥1,500,000)
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| Outline of Final Research Achievements |
As the shoulder joint of a small humanoid, the high power sandwich-type spherical ultrasonic motor (SUSM) excited by multilayered piezoelectric actuators was devised and examined. The maximum torque and torque-weight ratio increased 25 times (approximately 2N.m) and 20% more than those of previous SUSM, respectively. The SUSMs using the spherical stator were also devised, and the operating principle was confirmed by some experiments. Possibility of realization of SUSM with torque-free state generated by the control of friction force between the rotor and stator was experimentally considered. An arm attached on the spherical rotor rotated by a servo motor and two stators jointed by piezoelectric clutches was used as a substitute for the shoulder joint using the SUSM. As a result, the natural swing of the arm was able to be realized by applying momentary friction driving force periodically to the arm while that was swinging in torque-free mode.
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