Design and Analysis of Ultrasonic Motor for Driving Sphere Wheel.

In this paper, a new omnidirectional driving system is proposed that is composed of an ultrasonic motor, a sphere wheel, and ball bearings. The sphere wheel is driven by an ultrasonic motor, which is a Λ-type motor developed in the previous research. If the piezo-ceramic plates of the ultrasonic motor vibrate at the resonant frequency, the displacement of the ellipse orbit is generated at a sharp end of Λ-type. Modal analysis and time domain analysis were performed. The proposed omnidirectional driving system was validated by analyzing its motion characteristics. [ABSTRACT FROM AUTHOR]