中文摘要：

设计了一种螺旋驱动杆式行波型超声电机,初步分析了其驱动机理。推导了螺纹牙型角与定子长度以及转子直径三者之间的关系,并以提高螺纹驱动效率为目标函数,确定了电机主要结构尺寸,优化了用于放大振幅的定子凹槽结构。加工制作了样机,并搭建了试验装置,测试了电机的主要性能参数。试验表明：电机实际工作频率为24.5kHz,与仿真结果基本一致;调节相差可实现正反转控制,启停灵敏;在220V驱动电压下,电机最大空载转速为40r/min,堵转轴向力为1.7N。

英文摘要：

A rod type traveling wave ultrasonic motor was designed based on spiral-driving and its working principles were preliminarily analyzed. The relationship among thread angle and stator length as well as rotor diameter was discussed. And then,setting efficiency improvement of screw transmis- sion as object function, the main geometric parameters of stator could be determined. The size of groove was also optimized,which was used to amplify vibration amplitude. Based on these analyses, a prototype motor was fabricated. The corresponding experimental platform was established, and the main performances of motor were tested. The experimental results indicate that the actual working frequency is as 24.5 kHz,which is in accordance with simulation one. The motor can be controlled to run clockwise or counter clockwise through alternating phase difference, and on-off operating charac- teristics are satisfied. Under driving voltage of 220 V,the maximum rotary speed under no-load condi- tions is as 40 r/min,and the locked axial force is as 1.7 N.