TY - JOUR

T1 - A Novel Dual-Rotor Ultrasonic Motor for Underwater Propulsion

AU - Lu, Xiaolong

AU - Wang, Zhiwen

AU - Shen, Hui

AU - Zhao, Kangdong

AU - Pan, Tianyue

AU - Kong, Dexu

AU - Twiefel, Jens

N1 - Funding Information: This work was financially supported by the National Natural Science Foundation of China (No. 51975278), Natural Science Foundation of Jiangsu Province (No. BK20181292), Research Fund of State Key Laboratory of Mechanics and Control of Mechanical Structures (Nanjing University of Aeronautics and Astronautics) (Grant No. MCMS-I-0318Y01), Fundamental Research Funds for the Central Universities (No. NS2019009 and NJ20150002), and the Fundamental Research Funds for the Central Universities (kfjj20190108).

PY - 2019/12/19

Y1 - 2019/12/19

N2 - Micro underwater vehicles (MUVs) have been highlighted recently for underwater explorations because of their high maneuverability, low price, great flexibility, etc. The thrusters of most conventional MUVs are driven by electromagnetic motors, which need big mechanical transmission parts and are prone to being interrupted by the variance of ambient electromagnetic fields. In this paper, a novel dual-rotor ultrasonic motor with double output shafts, compact size, and no electromagnetic interference is presented, characterized, and applied for actuating underwater robots. This motor was composed of a spindle-shaped stator, pre-pressure modulation unit, and dual rotors, which can output two simultaneous rotations to increase the propulsion force of the MUV. The pre-pressure modulation unit utilized a torsion spring to adjust the preload at the contact faces between the stator and rotor. The working principle of the ultrasonic motor was developed and the vibration mode of the stator was analyzed by the finite element method. Experimental results show that the no-load rotary speed and stalling torque of the prototype ultrasonic motor were 110 r/min and 3 mN m, respectively, with 150 V peak-to-peak driving voltage at resonance. One underwater robot model equipped with the proposed ultrasonic motor-powered thruster could move at 33 mm/s immersed in water. The dual-rotor ultrasonic motor proposed here provides another alternative for driving MUVs and is appropriate for developing specific MUVs when the electromagnetic interference issue needs to be considered.

AB - Micro underwater vehicles (MUVs) have been highlighted recently for underwater explorations because of their high maneuverability, low price, great flexibility, etc. The thrusters of most conventional MUVs are driven by electromagnetic motors, which need big mechanical transmission parts and are prone to being interrupted by the variance of ambient electromagnetic fields. In this paper, a novel dual-rotor ultrasonic motor with double output shafts, compact size, and no electromagnetic interference is presented, characterized, and applied for actuating underwater robots. This motor was composed of a spindle-shaped stator, pre-pressure modulation unit, and dual rotors, which can output two simultaneous rotations to increase the propulsion force of the MUV. The pre-pressure modulation unit utilized a torsion spring to adjust the preload at the contact faces between the stator and rotor. The working principle of the ultrasonic motor was developed and the vibration mode of the stator was analyzed by the finite element method. Experimental results show that the no-load rotary speed and stalling torque of the prototype ultrasonic motor were 110 r/min and 3 mN m, respectively, with 150 V peak-to-peak driving voltage at resonance. One underwater robot model equipped with the proposed ultrasonic motor-powered thruster could move at 33 mm/s immersed in water. The dual-rotor ultrasonic motor proposed here provides another alternative for driving MUVs and is appropriate for developing specific MUVs when the electromagnetic interference issue needs to be considered.

KW - Dual-rotor

KW - Piezoelectric actuator

KW - Propeller

KW - Torsional spring

KW - Underwater robot

UR - http://www.scopus.com/inward/record.url?scp=85078913559&partnerID=8YFLogxK

U2 - 10.3390/app10010031

DO - 10.3390/app10010031

M3 - Article

AN - SCOPUS:85078913559

VL - 10

JO - Applied Sciences (Switzerland)

JF - Applied Sciences (Switzerland)

SN - 2076-3417

IS - 1

M1 - 31

ER -