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dc.contributor.authorMurphy, Devon Patricken_US
dc.date.accessioned2014-03-14T20:45:05Z
dc.date.available2014-03-14T20:45:05Z
dc.date.issued2008-08-25en_US
dc.identifier.otheretd-09092008-101507en_US
dc.identifier.urihttp://hdl.handle.net/10919/34989
dc.description.abstractA qualitative analysis of a rotary traveling wave-type ultrasonic motor (USM) used to supply feedback forces in force-feel systems is carried out. Prior to simulation, the subsystems and contact mechanics needed to define the motorâ s equations of motion are discussed along with the pitfalls of modeling a USM. A mathematical model is assembled and simulated in MATLAB Simulink. Accompanying the dynamic model, a new reduced model is presented from which predictions of USM performance can be made without a complicated dynamic model. Outputs from the reduced model are compared with those of the dynamic model to show the differences in the transient solution, agreement in the steady state solution, and above all that it is an efficient tool for approximating a motorâ s steady state response as a function of varying the motor parameters. In addition, the reduced model provides the means of exploring the USMs response to additive loading, loads acting in the direction of motor motion, where only resistive loads, those opposite to the motor rotation, had been considered previously. Fundamental differences between force-feel systems comprising standard DC brushless motors as the feedback actuators and the proposed system using the USM are explained by referencing the USM contact mechanics. Outputs from USM model simulations are explored, and methods by which the motor can be implemented in the force-feel system are derived and proven through simulation. The results show that USMs, while capable of providing feedback forces in feel systems, are far from ideal for the task. The speed and position of the motor can be controlled through varying stator excitation parameters, but the transient motor output torque cannot; it is solely a function of the motor load, whether additive or resistive.en_US
dc.publisherVirginia Techen_US
dc.relation.haspartMurphy_D_t_2008.pdfen_US
dc.rightsI hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to Virginia Tech or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report.en_US
dc.subjectAdditive Loadingen_US
dc.subjectResistive Loadingen_US
dc.subjectUSMen_US
dc.subjectUltrasonic Motoren_US
dc.subjectHapticen_US
dc.subjectTorque Controlen_US
dc.subjectControl Sticken_US
dc.subjectForce Feedbacken_US
dc.titleAnalysis of a Rotary Ultrasonic Motor for Application in Force-Feel Systemsen_US
dc.typeThesisen_US
dc.contributor.departmentMechanical Engineeringen_US
dc.description.degreeMaster of Scienceen_US
thesis.degree.nameMaster of Scienceen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineMechanical Engineeringen_US
dc.contributor.committeechairInman, Daniel J.en_US
dc.contributor.committeememberSeigler, Thomas Michaelen_US
dc.contributor.committeememberKasarda, Mary E. F.en_US
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-09092008-101507/en_US
dc.date.sdate2008-09-09en_US
dc.date.rdate2008-09-26
dc.date.adate2008-09-26en_US


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