AU2001278833A1 - Walking actuator - Google Patents

Walking actuator

Info

Publication number
AU2001278833A1
AU2001278833A1 AU2001278833A AU7883301A AU2001278833A1 AU 2001278833 A1 AU2001278833 A1 AU 2001278833A1 AU 2001278833 A AU2001278833 A AU 2001278833A AU 7883301 A AU7883301 A AU 7883301A AU 2001278833 A1 AU2001278833 A1 AU 2001278833A1
Authority
AU
Australia
Prior art keywords
drive elements
driving
sets
gripping
present
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
AU2001278833A
Inventor
Mats Bexell
Stefan Johansson
Per Oskar Lithell
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Piezomotor Uppsala AB
Original Assignee
Piezomotor Uppsala AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Piezomotor Uppsala AB filed Critical Piezomotor Uppsala AB
Publication of AU2001278833A1 publication Critical patent/AU2001278833A1/en
Abandoned legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/021—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors using intermittent driving, e.g. step motors, piezoleg motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/06—Drive circuits; Control arrangements or methods
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N30/00—Piezoelectric or electrostrictive devices
    • H10N30/20—Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators
    • H10N30/202—Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators using longitudinal or thickness displacement combined with bending, shear or torsion displacement
    • H10N30/2023—Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators using longitudinal or thickness displacement combined with bending, shear or torsion displacement having polygonal or rectangular shape

Landscapes

  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
  • Portable Nailing Machines And Staplers (AREA)
  • Vehicle Body Suspensions (AREA)
  • Catching Or Destruction (AREA)

Abstract

The present invention discloses an electromechanical actuator arrangement (10) and a method for driving such arrangement, having a plurality of drive elements (14a-d) according to a walking mechanism in a motion relative a body (22). A driving portion of the drive elements (14a-d) are independent movable tangentially and normally to the body (22) surface. The drive elements (14a-d) are driven in the fours cycle steps; gripping, moving the body, releasing and returning to the original position. The drive elements (14a-d) are divided into more than two exclusive sets. The driving of the sets is phase shifted. At least one of the sets is in contact with the body (22) surface at each instant. The present invention is characterised in that the driving of the drive elements (14a-d) during the gripping sequence is performed in such a way that the drive elements (14a-d) have a velocity, which has a significant tangential component.
AU2001278833A 2000-08-11 2001-07-25 Walking actuator Abandoned AU2001278833A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE0002885A SE0002885D0 (en) 2000-08-11 2000-08-11 Fine walking actuator
SE0002885 2000-08-11
PCT/SE2001/001666 WO2002015379A1 (en) 2000-08-11 2001-07-25 Walking actuator

Publications (1)

Publication Number Publication Date
AU2001278833A1 true AU2001278833A1 (en) 2002-02-25

Family

ID=20280676

Family Applications (1)

Application Number Title Priority Date Filing Date
AU2001278833A Abandoned AU2001278833A1 (en) 2000-08-11 2001-07-25 Walking actuator

Country Status (9)

Country Link
EP (2) EP1310038B1 (en)
JP (2) JP5102929B2 (en)
KR (1) KR100895914B1 (en)
CN (1) CN1288831C (en)
AT (1) ATE418795T1 (en)
AU (1) AU2001278833A1 (en)
DE (1) DE60137135D1 (en)
SE (1) SE0002885D0 (en)
WO (1) WO2002015379A1 (en)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6798117B2 (en) * 2002-07-10 2004-09-28 Piezomotor Uppsala Ab Fine control of electromechanical motors
US6977461B2 (en) * 2003-12-15 2005-12-20 Asml Netherlands B.V. System and method for moving an object employing piezo actuators
US7429838B2 (en) 2005-07-05 2008-09-30 Stmicroelectronics S.A. Control of a piezoelectric motor
KR100791592B1 (en) * 2006-12-21 2008-01-04 한국기계연구원 Linear manipulator with piezoelectric device
WO2012087193A1 (en) * 2010-12-20 2012-06-28 Piezomotor Uppsala Ab Electromechanical motor
WO2012163643A1 (en) * 2011-05-30 2012-12-06 Carl Zeiss Smt Gmbh Movement of an optical element in a microlithographic projection exposure apparatus
DE102012106846B4 (en) * 2012-07-27 2014-09-25 Leica Biosystems Nussloch Gmbh Microtome with a piezolinear drive
US9290219B2 (en) * 2013-03-14 2016-03-22 The Boeing Company Locomotion system and method of controlling a robotic device
DE102014014997B4 (en) 2014-10-09 2018-05-17 Attocube Systems Ag Stick-slip drive, in particular piezo-actuated inertial drive
JP6617450B2 (en) * 2015-07-02 2019-12-11 セイコーエプソン株式会社 Piezoelectric drive, motor and robot
CN105553327A (en) * 2016-02-02 2016-05-04 吉林大学 Piezoelectric vibration travelling mechanism
ES2870534T3 (en) 2018-03-29 2021-10-27 Phys Instrumente Pi Gmbh & Co Kg Dual mode motion control system and procedure for a piezoelectric motor
WO2023244160A1 (en) 2022-06-17 2023-12-21 Precibeo Ab Drive elements for electromechanical motor
SE2251213A1 (en) * 2022-10-17 2024-02-20 Precibeo Ab A drive element with two separate monolithic actuators for an electromechanical motor

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3902084A (en) 1974-05-30 1975-08-26 Burleigh Instr Piezoelectric electromechanical translation apparatus
JPS6281984A (en) * 1985-10-01 1987-04-15 Rion Co Ltd Piezoelectric actuator
JPS62186237A (en) * 1986-02-12 1987-08-14 Minolta Camera Co Ltd Camera having bimorph driving element
JPH0217875A (en) * 1988-07-04 1990-01-22 Matsushita Electric Ind Co Ltd Ultrasonic motor
JP2525876B2 (en) * 1988-08-12 1996-08-21 アルプス電気株式会社 Ultrasonic solenoid
JP2525877B2 (en) * 1988-08-12 1996-08-21 アルプス電気株式会社 Ultrasonic linear motor
JPH0295181A (en) * 1988-09-28 1990-04-05 Hitachi Ltd Method of driving piezoelectric motor, piezoelectric motor and head driver for disk storage device
JPH07108101B2 (en) * 1989-02-28 1995-11-15 オ−クマ株式会社 Linear actuator drive controller
JPH03222680A (en) * 1990-01-24 1991-10-01 Ricoh Co Ltd Carrier
US5017820A (en) * 1990-04-23 1991-05-21 Rockwell International Corporation Piezoelectric rotary union system
JPH05276771A (en) * 1992-03-19 1993-10-22 Koji Toda Ultrasonic actuator
JPH0779578A (en) * 1993-09-07 1995-03-20 Canon Inc Vibration-wave motor
DE4408618B4 (en) * 1994-03-15 2004-04-22 Physik Instrumente (Pi) Gmbh & Co Adjustment drive made of bimorph elements
DE19605214A1 (en) * 1995-02-23 1996-08-29 Bosch Gmbh Robert Ultrasonic drive element
US5751090A (en) 1995-05-17 1998-05-12 Burleigh Instruments Inc Peristaltic driver apparatus
AU5707796A (en) 1996-03-26 1997-10-17 Mats Bexell An actuator motor and a method for fabrication of such an actuator
RU2161364C2 (en) * 1996-06-05 2000-12-27 Окатов Юрий Владимирович Piezoelectric stepping motor
JP3190633B2 (en) * 1998-01-05 2001-07-23 セイコーインスツルメンツ株式会社 Piezoelectric actuator

Also Published As

Publication number Publication date
JP2004506526A (en) 2004-03-04
DE60137135D1 (en) 2009-02-05
WO2002015379A1 (en) 2002-02-21
ATE418795T1 (en) 2009-01-15
CN1446394A (en) 2003-10-01
SE0002885D0 (en) 2000-08-11
JP5102929B2 (en) 2012-12-19
EP2053669A1 (en) 2009-04-29
EP1310038B1 (en) 2008-12-24
KR20030069163A (en) 2003-08-25
EP1310038A1 (en) 2003-05-14
EP2053669B1 (en) 2013-06-26
JP2011188739A (en) 2011-09-22
CN1288831C (en) 2006-12-06
KR100895914B1 (en) 2009-05-07

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