{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,22]],"date-time":"2026-06-22T22:22:25Z","timestamp":1782166945693,"version":"3.54.5"},"reference-count":25,"publisher":"AIP Publishing","issue":"2","funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51877070"],"award-info":[{"award-number":["51877070"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U20A20198"],"award-info":[{"award-number":["U20A20198"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51577048"],"award-info":[{"award-number":["51577048"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003787","name":"Natural Science Foundation of Hebei Province","doi-asserted-by":"publisher","award":["E2021208008"],"award-info":[{"award-number":["E2021208008"]}],"id":[{"id":"10.13039\/501100003787","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003787","name":"Natural Science Foundation of Hebei Province","doi-asserted-by":"publisher","award":["E2018208155"],"award-info":[{"award-number":["E2018208155"]}],"id":[{"id":"10.13039\/501100003787","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Talent Engineering Training Support Project of Hebei Province","award":["A201905008"],"award-info":[{"award-number":["A201905008"]}]},{"name":"National Engineering Laboratory of Energy-Saving Motor and Control Technique, Anhui University","award":["KFKT201901"],"award-info":[{"award-number":["KFKT201901"]}]}],"content-domain":{"domain":["pubs.aip.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2022,2,1]]},"abstract":"<jats:p>The multidimensional motion ultrasonic motor with a single spherical stator is studied in this paper. It has the characteristics of miniaturization and can be used in precision motion applications. By bonding six identical pieces of piezoelectric ceramic onto the stator and applying the voltage signal of high frequency, the deformation of the inverse piezoelectric effect is used to excite the stator yaw vibration mode. The orthogonal superposition of the modes of the spherical stator on the driving foot produces elliptical trajectory around X, Y, and Z directions by different excitation methods. According to the yaw vibration mode of the spherical stator, 12 driving feet are designed to drive the rotation of the spherical rotor. The structure and mechanical characteristics of the motor are simulated by using simulation software, and the transient response of the stator driving foot was obtained, which proved its feasibility. Finally, the output performance of the motor in actual operation is given through experiments, which provides a new reference scheme in the field of precise multi-degree-of-freedom motion. At a voltage of 100\u00a0V and a frequency of 26.7\u00a0kHz, the prototype has a no-load speed of 73, 70, and 114 rpm around X, Y, and Z axes, respectively.<\/jats:p>","DOI":"10.1063\/5.0074049","type":"journal-article","created":{"date-parts":[[2022,2,9]],"date-time":"2022-02-09T13:30:21Z","timestamp":1644413421000},"update-policy":"https:\/\/doi.org\/10.1063\/aip-crossmark-policy-page","source":"Crossref","is-referenced-by-count":19,"title":["Design and characteristic analysis of multi-degree-of-freedom ultrasonic motor based on spherical stator"],"prefix":"10.1063","volume":"93","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2383-7607","authenticated-orcid":false,"given":"Zheng","family":"Li","sequence":"first","affiliation":[{"name":"School of Electrical Engineering, Hebei University of Science and Technology , Shijiazhuang 050018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhanyu","family":"Guo","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Hebei University of Science and Technology , Shijiazhuang 050018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haitao","family":"Han","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Hebei University of Science and Technology , Shijiazhuang 050018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhirong","family":"Su","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Hebei University of Science and Technology , Shijiazhuang 050018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6159-985X","authenticated-orcid":false,"given":"Hexu","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Hebei University of Science and Technology , Shijiazhuang 050018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"317","published-online":{"date-parts":[[2022,2,9]]},"reference":[{"key":"2023081008501300000_c1","doi-asserted-by":"publisher","first-page":"4217","DOI":"10.1109\/lra.2018.2863104","article-title":"Bioinspired flapping-wing robot with direct-driven piezoelectric actuation and its takeoff demonstration","volume":"3","year":"2018","journal-title":"IEEE Rob. 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