| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a preloader with an output rigidity regulation mechanism of a multi-degree-of-freedom ultrasonic motor which can flexibly regulate output rigidity even in the case of a joint mechanism having a multi-degree-of-freedom ultrasonic motor as a drive source. <P>SOLUTION: The preloader α generating a preload for pressing the upper end face of a stator β1 constituting a multi-degree-of-freedom ultrasonic motor β and a rotor β2 has a plurality of linear resilient bodies 1 stretched in parallel while being elongated previously longer than the natural length between resilient body fixing materials 3 and 4 on a lower stage and an intermediate stage, and a plurality of nonlinear resilient bodies 2 having elastic constants increasing and decreasing accompanied by a variation in elongation and stretched in parallel between a resilient body fixing material 5 on the upper stage capped over the preloader α and a resilient body fixing material 4 on the intermediate stage. An interval between the resilient body fixing materials 4 and 5 on the intermediate stage and the upper stage can be adjusted by an intervening output rigidity regulation mechanism γ. <P>COPYRIGHT: (C)2007,JPO&INPIT |
