中文摘要：

在已开发出的自走型直线超声电机基础上，介绍了一种基于自激励原理的无缆化驱动方案。论述了该自走型直线超声电机的结构设计和单相驱动原理，有有限元方法和激光扫描振动实验对该超声电机驱动端面能产生近似行波进行了验证，并说明利用自激励驱动的可行性，最后给出自激励驱动电路。自激励驱动使超声电机的驱动电源简化，对电机的小型化和低成本化有利，无缆化实现了电机驱动微型机器人的自如走行。

英文摘要：

A self- running type ultrasonic linear actuator using sandwiched vibrator has heen developed hy anthors several years ago, A wireless driving method of this actuator based on self- oscillation principle is presented. The structure design and the principle of single-phase type driving of the self - running ultrasonic linear actnator are discussed. The resuhs analyzed by FEM and measured by laser Doppler vibrometer are showed. The experimental results of the prototype clarified that a quasi - traveling wave has exist on the bottom surface of the actuator and a driving method by self- oscillation is realizable. Vinally, a self- oscillation circuit is supplied. The driving method by self - oscillation is of benefit to miniaturization and cost downing of ultrasonic actuators. The movement becomes freely with wireless driving.