定常波型・圧電超音波モータによるΔ型自走ロボットの開発

抄録

In this paper, we have introduced a new developed type of self-propelled robot which uses three standing wave type ultrasonic motors to realize holonomic movement on a surface. Recently, with the miniaturization of electronic devices, demand for mounting small chip components is increasing. Linear stages often used for chip mounting is fast and precise but with disadvantages of large vibration and poor energy efficiency. To overcome these problems, the minimization of size of the mounting device is important. The aim of this study is to develop a new type of miniature robot for precision works with low energy consumption, low vibration and better movement speed comparing to our previous works of miniature robots. This paper also introduces the experiment conducted with an image analysis system to test the robot’s repeatability under open-loop control and it’s result.