Ultrasonic positioner with multiple degrees of freedom of movement

• US 6,046,527 A
• Filed: 07/03/1997
• Issued: 04/04/2000
• Est. Priority Date: 07/05/1996
• Status: Expired due to Term

• Current Assignee: Honeybee Robotics Incorporated
• Original Assignee: Honeybee Robotics Incorporated
• Inventors: Vranish, John D., Roopnarine
• Primary Examiner(s): BUDD, MARK OSBORNE
• Application Number:
  US08/887,811
• Time in Patent Office: 1,006 Days
• Field of Search: 310/323, 310/328
• US Class Current: 310/323.06
• CPC Class Codes: H02N 2/0095 producing combined linear and rotary motion, e.g. multi-direction positioners
• CPC Class Codes: H02N 2/028 along multiple or arbitrary translation directions, e.g. XYZ stages
• CPC Class Codes: H02N 2/08 using travelling waves , i.e. Rayleigh surface waves
• CPC Class Codes: H02N 2/108 around multiple axes of rotation, e.g. spherical rotor motors
• CPC Class Codes: H02N 2/16 using travelling waves , i.e. Rayleigh surface waves

Abstract

An ultrasonic positioning system having multiple degrees of freedom of movement includes an array of piezoelectric ceramic elements grouped in pairs of adjacent ceramic elements of opposite deformation responses aligned in a first direction and also pairs aligned in a second direction, an elastic body bonded to the ceramic elements, and a moving body movably supported on the elastic body for movement in at least the two directions. The pairs of ceramic elements are activated with offset pairs of ceramic elements by electrical signals offset in phase to generate a traveling wave for driving the moving body. In a preferred embodiment, the ceramic elements have a length to width ratio of 2:1 with their lengths aligned in the X direction and widths aligned in the Y direction. When excitation signals having a frequency corresponding to either their length or width are applied, the ceramic elements can vibrate in two modes to drive the moving body in the X or Y direction. Another embodiment provides three degrees of freedom by arranging the ceramic elements in four linear beams in parallel sets of two beams each for driving a rotor in the X direction and in the Y direction, respectively, and in rotary motion when opposite traveling waves are generated in each set of parallel beams. The ceramic elements may also be arranged on a spherical surface to drive a body in pitch and yaw motions, or by combining an upper hemispherical assembly for pitch and yaw motions and a lower hemispherical assembly for roll motion to provide three degrees of freedom of movement.

Claims

1. An ultrasonic positioning system having multiple degrees of freedom of movement comprising:

(a) a plurality of piezoelectric ceramic elements, each capable of an elastic deformation response when an electrical signal is applied thereto, bonded in electrical contact with respective electrodes;

(b) an elastic body bonded in physical contact with deformable surfaces of the ceramic elements;

(c) a moving body movably supported in physical contact on the elastic body;

(d) wherein the ceramic elements are grouped in pairs of adjacent ceramic elements of opposite deformation responses aligned in a first direction, and also pairs of adjacent ceramic elements of opposite deformation responses aligned in a second direction; and

(e) means, including respective electrodes bonded to the ceramic elements, for applying an alternating electrical signal to produce a cyclic deformation response in the ceramic element pairs aligned in the first direction to produce a traveling wave for moving the moving body in the first direction, and for applying another alternating electrical signal to produce a cyclic deformation response in the ceramic element pairs aligned in the second direction to produce a traveling wave for moving the moving body in the second direction, whereby at least two degrees of freedom of movement in the first and second directions are obtained;

wherein an array of rectangular ceramic elements, each having a length different from its width, are grouped in pairs of ceramic elements of opposite deformation responses aligned with their lengths in an X direction and their widths in a Y direction, said array of ceramic elements being arranged for vibrating in two modes such that when an excitation signal of a first frequency corresponding to the length of the ceramic elements is applied, the ceramic element pairs aligned in the X direction produce a cyclic deformation response in the X direction, and when an excitation signal of a second frequency corresponding to the width of the ceramic elements is applied, the ceramic element pairs aligned in the Y direction produce a cyclic deformation response in the Y direction.

2. An ultrasonic positioning system according to claim 1, wherein the ceramic elements have a length to width ratio of 2:

1.

3. An ultrasonic positioning system according to claim 1, wherein the elastic body is an elastic plate slotted in the X and Y directions to form teeth capable of being mechanically deformed to produce traveling waves in the X and the Y directions.

8. An ultrasonic positioning system according to claim 1, wherein said array of ceramic elements capable of vibrating in two modes are arranged to form a spherical surface, wherein the ceramic elements have one dimension thereof aligned in a pitch direction and another dimension thereof aligned in a yaw direction, and the moving body is driven in two degrees of freedom of pitch and yaw movement over the spherical surface.

9. An ultrasonic positioning system according to claim 8, wherein said array of ceramic elements are arranged to form upper and lower half-spherical surfaces which are assembled together to form the spherical surface, and upper and lower moving bodies are supported in preloaded contact with the respective half-spherical surfaces and are coupled together to be driven with a doubled output of driving force.

10. An ultrasonic positioning system according to claim 1, wherein said array of ceramic elements capable of vibrating in two modes are arranged to form an upper half-spherical surface, wherein the ceramic elements have one dimension thereof aligned in a pitch direction and another dimension thereof aligned in a yaw direction, and a second array of ceramic elements are arranged to form a lower half-spherical surface, wherein the ceramic elements are arranged in curvilinear beams aligned in a converging direction for driving a moving body thereon in rotary motion, and upper and lower moving bodies are supported in preloaded contact, respectively, with the upper half-spherical surface for driving in pitch and yaw directions and with the lower half-spherical surface for driving in a roll motion, whereby three degrees of freedom of movement are obtained.

4. An ultrasonic positioning system having multiple degrees of freedom of movement comprising:

(a) a plurality of piezoelectric ceramic elements, each capable of an elastic deformation response when an electrical signal is applied thereto, bonded in electrical contact with respective electrodes;

(b) an elastic body bonded in physical contact with deformable surfaces of the ceramic elements;

(c) a moving body movably supported in physical contact on the elastic body;

(d) wherein the ceramic elements are grouped in pairs of adjacent ceramic elements of opposite deformation responses aligned in a first direction, and also pairs of adjacent ceramic elements of opposite deformation responses aligned in a second direction; and

(e) means, including respective electrodes bonded to the ceramic elements, for applying an alternating electrical signal to produce a cyclic deformation response in the ceramic element pairs aligned in the first direction to produce a traveling wave for moving the moving body in the first direction, and for applying another alternating electrical signal to produce a cyclic deformation response in the ceramic element pairs aligned in the second direction to produce a traveling wave for moving the moving body in the second direction, whereby at least two degrees of freedom of movement in the first and second directions are obtained;

wherein the electrodes, ceramic elements, and elastic body are arranged in four linear beams, with two beams aligned in parallel in the X direction and two beams in parallel in the Y direction, and a movable rotor is supported as the moving body in preloaded contact on the beams, and when excitation signals are applied to each two parallel beams to generate travelling waves in the same X or Y direction, linear movement of the rotor in the X or Y direction results, and when excitation signals are applied to each two parallel beams to generate travelling waves in the opposite X or Y direction, rotary motion of the rotor results, whereby three degrees of freedom of movement are obtained.

5. An ultrasonic positioning system according to claim 4, wherein the linear beams are arranged in a square configuration around a central opening in a planar support plate, and the rotor is assembled in preloaded contact on the beams by first preloading means including a bearing in contact with the rotor and supporting a shaft on one planar side of the support plate, and by second preloading means including an anti-friction disk on an opposite planar side of the support plate, and wherein the preloading shaft extends through the central opening in the support plate and is coupled to the preloading disk, such that the assembly of the rotor, first preloading means, and second preloading means can move together in the X and Y directions and in rotary motion on the support plate, and the shaft coupling the assembly together can move within the space of the central aperture of the support plate.

6. An ultrasonic positioning system according to claim 5, wherein the preloading disk includes anti-friction means provided between the disk and the opposite planar side of the support plate to allow the rotor assembly to move without resistance.

7. An ultrasonic positioning system according to claim 6, wherein the anti-friction means are piezoelectric ceramic elements that are vibrated during movement of the rotor assembly in the X and Y directions to provide a low coefficient of friction between the support plate and the disk.