中文摘要：

为了提高超声电机的疲劳寿命及驱动能力，提出一种利用郎之万振子纵向振动与螺旋形叶片转子相结合构造的旋转型超声波电机结构，从转子叶片受振动端面的纵向振动作用出发，分析了叶片接触点的运动轨迹方程，并对该电机的驱动机理及转子运动特性进行了理论分析，得到了电机驱动力、驱动力矩、瞬时转速与平均转速与电机参数之间的关系；制作试验样机并进行了实验测试，获得了振子端面振幅、预紧力与电机空载转速、扭矩之间的关系；当驱动电压为220 V，振子端面振幅为11.15μm；预紧力为150 N时，最大空载转速为147 r/min；预紧力为250 N 时，扭矩最大为225 N？mm。

英文摘要：

In order to improve the fatigue life and performance, a new kind of ultrasonic motor constructed with a spiral blade rotor and Langevin transducer was proposed. Based on the longitudinal vibration effect between the vibrating face and the rotor blades, this paper analyzed the motion locus equation of the contact point and the drive mechanism of this kind of ultrasonic motor, and obtained characteristics of the rotor motion, and the relationships between driving force, torque, instantaneous rotary speed, average rotary speed of the motor and the structure, vibrating parameters. A test prototype was manufactured and tested to obtain the relationships between vibrator amplitude and driving voltage, preload force and rotor speed, torque and velocity. The test results show that when the driving voltage is 220V, the vibrator amplitude is 11.15μm, as the preload force is 150N, the maximum no-load speed is 147r/min; and as preload force is 250N, the maximum torque is 225N？mm.