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Harmonic piezodrive - miniaturized servo motor

: Barth, O.


Mechatronics 10 (2000), Nr.4-5, S.545-554
ISSN: 0957-4158
Fraunhofer IPA ()
Harmonic Piezodrive; Kleinstantrieb; Kleinstroboter; Piezodrive

Miniaturised dc-motors used in servomotor applications show some disadvantages like very high speed and therefore are combined with gearsets of a high gear ratio which introduce backlash and low efficiency. This article proposed a different kind of motor principle by the combination of a harmonic drive gearbox and stack piezoactuators. The actuators replace the functionality of the wave generator generating a travelling wave into the flexspline element of the gearbox. After some theoretical conclusions for control and torque calculations the functionality of the new motor principle is proven by a prototype.