抄録
In order to achieve a fast and powerful motion of a robot, the development of an actuator with high output energy/weight ratio is indispensable. Output energy/weight ratio of piezoelectric motor is higher than that of magnetic motor. So, piezoelectric motors have a possibility to realize the actuator with high output energy/weight ratio. But its driving mechanism is not perfectly clarified.
In this report, we proposed a dynamic modeling method for the stator of an inclined-type piezoelectric motor which we had developed before. This model describes the mechanical characteristics (vibration mode, amount of heat) and electric characteristics (electric impedance) of the motor well and the validity of this modeling method was confirmed by experiment.
