A novel multi-DOF ring-shaped standing-wave type of ultrasonic motor was proposed. It was composed of a spherical rotor and a ring-shaped stator. The motor using the second order in-plane vibration mode could rotate in three directions. Here, the motor's operation and driving mechanism was analyzed in detail. A prototype motor was fabricated according to the results of finite element design. The motor's stator had the size of 25. 7 mm (length) X 25. 6 mm (width) x 25.7 mm (height) , and the operating frequency of 26.76 kHz. Its rotational speeds in three directions were 12 r/min、10 r/min and 12 r/min, respectively. The motor had the advantages of small volume, simple and compact structure, and not considering the frequency consistency of different working modal frequencies. It could be applied in various fields of small robots, robot eyes, robot hands, and attitude adjustment of mechanisms.%提出一款新型多自由度圆环形驻波超声电机,该电机由一个球形转子和圆环形定子构成,利用二阶面内振动模态工作,可以实现三个方向的旋转运动.详细分析了该电机的运动机理,并根据有限元设计结果,研制了一台原理型样机.样机定子的外形尺寸为25.7 mm ×25.6 mmn×5 mm,驱动频率为26.76 kHz,绕三个方向的转速分别为:12r/min、10 r/min、12 r/min.该款电机具有体积小、结构简单紧凑、无需考虑复合模态多自由度电机不同工作模态频率一致性的问题等特点,有望用于小型机器人、机器人眼球、机器手和机构姿态调节等驱动上.
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