Ultrasonic motorTiny Utrasonic Linear Actuator TULA series
PUMR series
Technohands Co., Ltd. www.technohands.co.jp
Overview
What are Ultrasonic Motors?
Main Features of Ultrasonic Motors
Applications
The ultrasonic motor operates using a piezoelectrical mechanism to convert a vibration movement into a
displacement movement. Ultrasonic motors are used in either rotary modules or linear modules.
• Attain low speed and high torque (thrust) without slowing down the machine
• Maintain high torque (thrust), with no electric current present, therefore, no
heat is generated
• When movement is stopped, frictional force brings movement to a complete
stop with no unwanted vibration
• Direct mechanism allows high machine responsiveness
• Simpler and fewer parts allow for decrease in mass production cost
• Nonmagnetic construction allows for unaffected operation in presence of magnets
• Vacuum application is available by changing materials.
・ Microscope stage
・ Small interferometer stage
・ Stage for vacuum use
・ Stage for medical devices
・ Stages for zero gravity
・ Stage for semiconductor equipment
・ Stage for precision small-scale application
・ Mirror alignment unit for optical system
・ Stage for strong magnetic field environment
・ Flow adjustment for valve and nozzle
Ultrasonic Motor
TULA (Tiny Ultrasonic Linear Actuator)
1
In general, actuators in mainstream use are electromagnetic and fluid (air and oil pressure) types, but in recent years,
ultrasonic motors have appeared as a completely new trend. They were previously used in the industrial field, but they
are now increasingly being used as mobile actuators for digital cameras and cellular phones. We coordinate with our
company partners to commercialize new products, offering much sounder, better service. From rotary modules to linear
modules, we supply our customers with a wide variety of this latest developed ultrasonic motor.
・ Camera (AF, Zoom, Anti shake)
・ Small manipulator
・ IR filter for camera
・ Laser beam adjustment unit
・ Surveying equipment
・ Stage for object lenses
・ Small robot
・ Unit for braille
・ Actuator for surveillance camera
・ Industrial shutter
TULA (Tiny Ultrasonic Linear Actuator)
2
Drive Principle
Uni-morph typefr: 114kHz Coupling coefficient : 24%
up Down
Bi-morph typefr: 128kHz Coupling coefficient : 43%
Elastic material
Piezoelement
Elastic material
Piezoelement
Piezoelement
Uni-morph typefr: 114kHz Coupling coefficient : 24%
up Down
Bi-morph typefr: 128kHz Coupling coefficient : 43%
Elastic material
Piezoelement
Elastic material
Piezoelement
Elastic material
Piezoelement
Piezoelement
Elastic material
Piezoelement
Piezoelement
Pi = dijkTjk
Sij = dkijEk
Direct piezoelectric effect
Inverse piezoelectric effect
Micro-miniature Ultrasonic Linear Actuator: TULA, is either a unimorph or bimorph type of next generation actuator that operates through piezo-ceramic vibration control. Piezoelectric ceramic is fixed to the end of the drive shaft, putting the preloaded friction in the drive shaft, preventing heat emission and vibration that would occur with electromagnetic motors. The principle mechanism is the transference of vibration from the piezoelectric ceramic to the drive shaft. The movement from the vibration pulls the friction by changing the duty ratio of the forward and reverse movement, using this action to create motion. Minute movement is controlled by high frequency vibration, allowing the actuator to move smoothly. For its micro-miniature shape, it can provide high thrust and motion retention; it is an ideal actuator for micro positioning.
Drive Principle of TULA
Unimorph Type
Bimorph Type
TULA (Tiny Ultrasonic Linear Actuator)
3
Example of Friction Body Structures
・ Trembler Diameter :φ7.5mm
・ Shaft Length : 22 (available from3 ~ 30mm)
・ TULA70W (available from3 ~ 45mm)
・ Thrust : 40gf
(Varies with the pressure force of the moving body)
・ TULA70W : 50gf
・ Load : 100g
・ TULA70W : 150g
・ Holding Force : 150gf
(Varies with the pressure force of the moving body)
・ Stroke : 3 ~ 30mm
・ Vibration Frequency : 30 ~ 70KHz
・ Drive Voltage : 20 ~ 38V
(19.5)(22)
1
7.6
(15)(22)(30)(40)(45)
1
7.6
TULA70 TULA70W “W” notation is for double piezo
(28)
・ Trembler Diameter :φ3.5mm
・ Shaft Length : 14mm (available from 3 ~ 14mm)
・ Thrust : 15 ~ 25gf
・ Holding Force : 30 ~ 80gf
・ Stroke : 3 ~ 6mm
・ Vibration Frequency : 70 ~ 100KHz
・ Drive Voltage : 12 ~ 30V
TULA35
14
1 0
4
3.60
23
2.43
1.50
3
・ Trembler Diameter :φ5.5mm
・ Shaft Length : 22 (available from3 ~ 22mm)
・ Thrust : 25 ~ 40gf
・ Holding Force : 100 ~ 150gf
・ Stroke : 3 ~ 9mm
・ Vibration Frequency : 50 ~ 90KHz
・ Drive Voltage : 10 ~ 38V
TULA50
(16.5,20,22)
φ1.32 0+0.005
18.6
Standalone Actuator Specification (TULA35, 50, 70, 70W)
elements on both sides
+0.005
φ1.32 00.005
TULA (Tiny Ultrasonic Linear Actuator)
4
●ST50S-16.5 Type●ST70S-22 Type
●ST50A-16.5 Type●ST70A-22 Type
●ST35P-14 Type ●ST50P-16.5 Type●ST70P-22 Type
PCD302 Type
+
5V Power supply, USB cable
+
Drive Thrust
Holding Force
30 ~ 40gf 40 ~ 60gf 25 ~ 40gf
100gf
PCD301 TypeCompatible Driver/Controller
150gf 80gf
The Ultrasonic Linear Actuator operates using friction caused by the repetition of the expansion and contraction of the axel
(impact type) with the vibration from the piezoelectric element. This is why the moving body (friction body) is an important
element in TULAs.
Evaluation Kit (with friction body) Open Loop Type
●ST50S-16.5 Type●ST70S-22 Type
●ST50A-16.5 Type●ST70A-22 Type
●ST35P-14 Type
●ST50P-16.5 Type
●ST70P-22 Type
1
23
4
5
A A
1.70
0.20
236°
72°
1.2
Cross Section A-A
ST***-***Type
1
1
()
( )Spring wire diameter 0.2
()
TULA (Tiny Ultrasonic Linear Actuator)
5
Encoder Type ● Ultra Small Ultrasonic Linear Stage
Capable of high precision with integrated high precision optical encoder.
This product features significant strong holding force capability for an Ultrasonic actuator. 8.
68
14
511
2526.23
12 14 18
4-M2.5 Deep2.0
2-TULA50(16.5mm)
7 16 23
101222
2-M 1.40
2- 1.20
2.502.50
Encoder FPCB = 150mm
● X Axis Stage (st:4 ㎜ )Model Number : XDT50-042 Type
-Specifications-1. Stroke : ±2mm2. Resolution: 1μm/p (A, B Phase) Option : 0.1μm/p3. Repeatability : ±3μm4. Thrust : 80gf5. Holding Force : 300gf6. Moving Speed : 10mm/s7. Driver : PCD302 Type8. Actuator : TULA50 (16.5mm)
1. X Axis Stage・ XDT50-042 Type 5P・ XDT70-102 Type 6P・ XDT70-152 Type 6P
2. XY Axis Stage・ XYDT50-042 Type 7P
3. Theta Axis Stage・θDT70-0062 Type 7P
4. XY-Theta Axis Stage・ XYDT50-042/θ70-0062 Type 8P
5. XY Axis Hollow Stage ・ XYHDT50-042 Type 8P
6. X Axis Stage (Resolution 1μm, 5μm)・ XDT50-041 Type 9P (Avago)・ XDT50-069 Type 9P (Micro E)
Slider
Leaf spring
TULA70
scale
Optical encoder
BaseShaft
TULA (Tiny Ultrasonic Linear Actuator)
6
Encoder Type
8.68
511
1425
26.23
12 14 18
Enco
der F
PCB
= 15
0
Mot
or F
PCB
= 15
0mm
4-M2.5
2-TULA70(22mm)
12 21.5
028
.50
1210
22
2-M1.40
2- 1.20
5.25 5.25
-Specification-1. Stroke : ±5mm2. Resolution : 1μm/p (A,B Phase) Option : 0.1μm/p 3. Repeatability : ±3μm4. Thrust : 60gf5. Holding Force : 300gf6. Moving Speed : 10mm/s7. Driver : PCD302 Type8. Actuator : TULA70 (22mm)
● X Axis Stage (st:10 ㎜ )Model Number : XDT70-102 Type
8.68
12 14 22
1425
26.23
511
4-M2.5Deep2mm
Mot
or F
PCB
= 15
0mm
Enco
der F
PCB
= 15
0mm
2-TULA70(28.0mm)
10
1222
18 27 38
2-M1.40
2- 1.20
8 8
● X Axis Stage (st:15 ㎜ )Model Number : XDT70-152 Type
-Specification-1. Stroke : ±7.5mm2. Resolution : 1μm/p (A,B Phase) Option : 0.1μm/p 3. Repeatability : ±3μm 4. Thrust : 50gf5. Holding Force : 300gf6. Moving Speed : 10mm/s7. Driver : PCD302 Type8. Actuator : TULA70 (28mm)
TULA (Tiny Ultrasonic Linear Actuator)
7
Encoder Type 17
.35
4-TULA50(16.5mm)
14
144-M2
18
25
Mounting hole for 2-M1
12
7
22
23
2.40 4
10 12.1
0
15
10.5
0
7
20
2612
2- 1.20
2-M1.40Deep 3.0
22°
2-TULA70(22mm)
58 15
.50 23 26
3151820
32
4-M2.50 Deep 2.5
Encoder FPCB = 150mm
● XY Axis StageModel Number : XYDT50-042 Type
● Theta Axis StageModel Number :θDT70-0062 Type
-Specification-1.Stroke : XY±2mm2.Resolution : 1μm/p (A,B Phase) Option : 0.1μm/p 3.Repeatability : ±3μm 4.Thrust : 60gf5.Holding Force : 250gf6.Moving Speed : 10mm/s7.Driver : PCD302 Type8.Actuator : TULA50 (16.5mm)
-Specification-1. Movement Amount : ±3° Option : 360°Can be Changed2. Resolution : 1p : 0.005° Option : 1p/0.0005°3. Repeatability : ±3p : 0.015°4. Torque : 50gcm5. Holding Torque : 150gcm6. Moving Speed : full Moving 0.4seconds or less7. Driver : PCD302 Type8. Actuator : TULA70 (22mm)
TULA (Tiny Ultrasonic Linear Actuator)
8
Encoder Type
● XY-Theta Axis StageModel Number : XYDT50-042
-Specification-1. Stroke : XY±2mm, θ±3°2. Resolution : 1μm/p, θ0.005°/1p3. Repeatability : ±3μm, ±0.015°4. Thrust : 60gf, 50gcm5. Holding Force : 250gf, 150gcm6. Moving Speed : 10mm/s, full Moving 0.4seconds or less7. Driver : PCD302 Type8. Actuator : TULA50 (16.5mm), TULA70 (22mm)
71418
2.505
11
2628.62
25
4-M3
12.1
08.
688.
68
2.50 2.50
25
29.4
5
TULA50(16.5mm)
TULA50(22mm)
0.30
0.30
0.27
2.50 2.50
Linear Scale
22
7
5.5
Encoder FPCB = 150mm
7
15 20
32
7.50
15
21
5
4-M2.50Deep2.5mm
Encoder
● XY Axis Hollow Stage Model Number : XYHDT50-042 Type
-Specification-1. Stroke : XY±2mm2. Resolution : 1μm/p (A,B Phase) Option : 0.1μm/p 3. Repeatability : ±3μm 4. Thrust : 60gf5. Holding Force : 250gf6. Moving Speed : 10mm/s7. Driver : PCD302 Type8. Actuator : TULA50 (16.5mm)
2.10 2.10
4.70
16
4
2.10 2.10
4-TULA50(16.5mm)
4-Guide Shaft(15mm) Encoder FPCB 150mm
24
30
38
2036
14 17
4-M2
30
36
7
4- 3.20
45
24
45
2040
30 36 45
4-M2
4- 3.20 ThruCounterbore 5.7Deep1.5
/θ70-0062 Type
TULA (Tiny Ultrasonic Linear Actuator)
9
● X Axis Stage (Resolution : 5μm/p)
Model Number : XDT50-041 Type8.
85
Encoder(AEDR-850x)
10
5
18
84
1125
4-M2
26.23
1.65 15
.05
912.06
2-TULA50(16.5mm)
5
9.50
612.50
22
21
2-M2Screw Holes(Mount from rear)
Encoder FPCB = 150mm
8 2.502.50
18.60
Encoder Housing(Molex 53048-0810)
-Specification-1. Stroke : ±2mm2. Resolution : 5μm/p (A,B,Z Phase)3. Repeatability : ±15μm4. Thrust : 80gf5. Holding Force : 300gf6. Moving Speed : 10mm/s7. Driver : PCD302 Type8. Actuator : TULA50 (16.5mm)
● X Axis Stage
Model Number : XDT50-069 Type
-Specification-1. Stroke : ±3mm2. Resolution : 1μm/p3. Repeatability : ±3μm4. Thrust : 60gf5. Holding Force : 180gf6. Moving Speed : 10mm/s7. Driver : PCD302 Type8. Actuator : TULA50 (22mm)
21. 61
16
19.5
A
A
10
10
2.53
24.6
4-M2
B B
2-M33
2.3
2.3 3
20
10
12.4
1520.6
5.4
FPCB
14.66
±0.0
5
1
1.3
-0.20
Cross Section A-A
32.62
64.38
1.38
Cross Section B-B
Encoder Type
Stage for a Strong Magnetic Field
General Purpose Stage
TULA (Tiny Ultrasonic Linear Actuator)
10
Open Type
7.37
TULA50 (22mm)
1410
18
1015
5
17
4-M2
5-M2
21
17
22.50
41.
70 7.37
● Open X Axis Stage
◆(A) XDT50-06 Type -Specification- 1. Stroke : 3.5mm 2. Thrust : 50gf 3. Holding Force : 120gf 4. Load : 100g
(A)
(B)
(C)
◆(B) XDT50-09 Type -Specification- 1. Stroke : 6.5mm 2. Thrust : 40gf 3. Holding Force : 120gf 4. Load : 100g
◆(C) XDT50-11 Type -Specification- 1. Stroke : 8.5mm 2. Thrust : 35gf 3. Holding Force : 120gf 4. Load : 100g
XDT50-11 Type
17
6.21
8
6.50
3
6.60
2.50
4.501.50
4-M1.4Thru
88.94
1
◆XLT35-06 Type
-Specification- 1. Stroke : 5.5mm 2. Thrust : 20gf 3. Holding Force : 60gf 4. Load : 50g ● Small size X Axis Stage
Model Number : XLT35-06 Type
TULA (Tiny Ultrasonic Linear Actuator)
11
35 3941
.50
15
5
7
4.70
4-M1.7Deep 3
4-M2Thru
7.80
17.7TULA70W TYPE 7.70
Aluminum(BLACK Aluminum)
Electroless nickel
Aluminum(BLACK Aluminum)
1. Stroke : 27mm 2. Thrust : 30gf 3. Holding force : 60gf 4. Load : 50g
● X Axis StageModel Number : XST70W-27 Type
● X Axis StageModel Number : XST70-09 Type
7.57
17.50
19.50
3.50
3-M2
2-M2
8
5.500 8
1 1
4.32
3.15
Aluminum
Teflon
SUS304
Aluminum
-Specification- 1. Stroke : 9mm 2. Thrust : 40gf 3. Holding Force : 170gf 4. Load : 50g
Open Type
-Specification-
TULA (Tiny Ultrasonic Linear Actuator)
12
TULA Applications
-Specification-1. Stroke : Maximum 4㎜2. Thrust : 30gf3. Holding Force : 200gf4. Load:50g or less5. Resolution:1μm, 5μm6. Moving Speed : 10mm/s
3 6 20 24
50
42
39
37
2 guide pin
2 Penetration
3- 1.40 Penetration
PCD 46
PCD 45
54
scale bar 10mm
CCD Substrate
Enco
der F
PCB
= 15
0 51.110 1
encoder
TULA70(22mm)
● Auto Focus Unit for CCD
● Manipulator & Finger Unit
23
23
719
7
24.5
0
Enco
der F
PCB
= 15
0mm
2- 1.20
Counterbore 3Deep1.0(M1.4 Screw)
2- 1.5
14.3
1 5
1.50
24.5
0
2.50
2.50
3.50
28.6
°
2-TULA50(8mm)
2.90
32.2
7
11.5
013
.50 22
.18
24.1
8
42.6
8
13.9023
7
412
23
2- 1.20
Counterbore 3 Deep1.0(M1.4 Screw)
2- 1.5
-Specification-1. 2 Axis Finger Stroke: 2.9mm2. Finger Thrust: 10gf3. Finger Holding Force: 30gf4. Control : Pulse Control (open)
TULA (Tiny Ultrasonic Linear Actuator)
13
TULA Applications
31
16
TULA70W (40mm)
TULA70W (45mm)
Crossroller
Width2.5 Deep1.5 Home Processing(Fixed Wiring)
40 50 51
4-M2Bolt Hole
3.0ADeep2.012- 1.6Thru
20- 3.2Thru24-M1.6 Deep4.0
35
60
3840
43
50546075
48 4553 504-M3.0Thru
4-
3.0Deep1.010- 1.6Thru
405- 2.3Deep4.0
12-M2Thru
11.7
020
Encoder
Crossroller
YAxis
XAxis
XAxis
● XY Axis Hollow Microscope StageModel Number : XCT70W-302/YCT70-202 Type
31.50
R7.20
R2.50
11.507.20
R9
18
8.20
8.30
32
6.506.50
28.2021.65
26.75
R7
3.70
15.50
6.90
5.80
TULA50
A A
Drive Section Film Cover
Cross Section A-AScale1 : 1
● IR Filter Changer for CCTV
※Customization of the IR filter for surveillance
-Specification-1. Moving Speed : 10mm/s
2. Drive Frequency : 65 ~ 75KHz
3. Power Consumption : < 40mW
4. Operating Temperature : -10 ~ 50℃
(option : -30 ~ 70℃)
5. Dimensions(W×L×H) : 32.0×32.0×18.9mm
6. Actuator : TULA50 (20mm)
1. Motor Type : Ultrasonic Linear Motor (Friction Motor)2. Movement Direction : X, Y 2 directions3. Driving Mode : Impact type of piezoelectric ceramic4. Maximum Stroke : 5. Effective Max. Stroke :6. Table Dimensions :7. Minimum Resolution :8. Positioning Accuracy :
9. Repeatability :10. Withstand load :11. Holding Force :12. Mass :
13. Encoder Model :
1μm75mm × 70mm
5μm300g150g
Item Specification (standard)
XAxis:±15.3mm, YAxis:±10.1mm
320g
CE300-40E (Micro E)
XAxis:±15mm, YAxis:±10mm
±3μm
cameras are available.
TULA (Tiny Ultrasonic Linear Actuator)
14
TULA Applications
● Shake Prevention Unit
-Features & Application-
Shake Prevention Unit for Digital Camera
1. High responsiveness and retentive force leads to
replacement of VCMs
2. Surveillance cameras with reduced vibration and
unwanted motion
3. Shake prevention for video cameras, and more.
● micro pump
2
51
TULA35
10
R61.50
63.20
11.
508
black alumiteAluminum
brass
4
10
stroke:0~2mm
stroke changesAdjustment board for
-Specifications-1. Stroke : 0 ~ 2mm
2. Thrust : 10gf
3. Holding Force : 30gf
● Braille Module
-Specifications-1. TULA35, TULA50 Type2. Thrust : 20gf3. Speed: 8㎜/sec (Applications)* ATM with braille support, small braille unit for mobile, display surface with braille.
-Specifications-1.Vacuum state : 10-6 Pascal2.Stroke : 3 axis 6 mm3.Thrust : < 40gf4.Holding Force : 150gf
●Vacuum actuator (under development)
FE SEM
XYZ Stage
※Vacuum unit shall be tested by customer.
● Auto Focus Module (under development)
-Features & Application-1. TULA35, TULA50 Type2. Auto focus for bar code reader3. Auto focus zoom for digital camera4. Auto focus zoom for mobile phones5. Auto focus module for industrial use
TULA (Tiny Ultrasonic Linear Actuator)
15
TULA Applications ●Objective Lens
XY Axis Drive
28.1
Z Axis Drive
S=6
S=4S=442.8
64.38
60
35
28.1
Constant Preload Spring Fixing Bold Holes
S=4S=4
11.31
35.82
M2
28.1
-Specification-
1. Effective Stroke (mm) : X (+/- 3.2), Y(+/- 3.2), Z (+/- 2.7)
3. Holding Force (gf) : X(160), Y(160), Z (130): with preload spring (130)
4. Body Weight (g) : XYZ axes (70)
5. Control : Manual operation or command control from PC
6. Option : JOG controller
⇔
⇔
⇔
3 Axis JOG Tracking Unit
● Industrial Lens Drive Unit
rens 25
49
R16.50
R18
44
25
24
34.9
A A
24
5640
4
28
44
3
25
storke 7.6 Effective Stroke10
Glass scale
Encoder PC Board (Avago)
R84.66
25
10
Cross Section A-A Scale 1 : 1
-Specification-
1. Thrust : 45gf
2. Holding Force : 150gf
3. Resolution : 5μm
4. Positioning Accuracy : ±10μm
5. Max Lens Payload : 70g
6. Stroke : ±4 ㎜
Attachment Unit
Encoder
Glass Scale
Rens
Lens barrel
2. Thrust (gf) : X(40), Y(40), Z(25): with preload spring (50)
TULA (Tiny Ultrasonic Linear Actuator)
16
Driver & Controller
PCD-301 Type(1Axis)
Features
1. Compatible to TULA 35, TULA50, TULA70
2. Precise Position Control
・ High precision achieved with use of optical encoder
・ Open Pulse Drive (under 70nm per pulse under in-house test)
3. Digital P.I.D. Tuning
4. Input Command Types:
1) External digital pulse commands
・ step/dir
2) Command input
・ LabView/TeraTerm via USB
3) Analog control input (0 ~ 3.3V, Option)
5. JOG Motion
6. Manual Operation from LCD Panel
Specifications
1. Driving Frequency : 20 ~ 110 KHz
2. Drive Voltage : 16 ~ 40V
3. Drive Duty : 0 ~ 100%
4. USB Interface to PC (use FTDI FT232R)
5. PC Monitor Program
・ Driver Program (Tera Term) included
6. Supply Power : DC12 ~ 24V, 1A
Pulse Generator PID Controller
Feed forward
Speed calculator
PWM Modulator
H bridge C ircuit
DC Step up
TULAMechnical Part
OpticalEncoder
FT232 Rcommunicationexchange
D ifferentialLine driver
RS232
QEI
Signal conditioner
commanddirective
pulse directive
(
Step/Dir )
speed directive( option )
Jog wheeldirective
D IO
ADC
QEI
LCD panel
16 char
.
X 2 line
PCD-301
dsPIC 33 F128MC804
1 msec sampling time
Block Diagram
(Power、USB cable included)
TULA (Tiny Ultrasonic Linear Actuator)
17
Driver & Controller
Block Diagram
Features
1. Compatible to TULA 35, TULA50, TULA70
2. Precise Position Control
- High precision achieved with use of optical encoder
- Open Pulse Drive
(under 70nm per pulse under in house test.)
3. Digital P.I.D. tuning
4. Input Command types:
1) External Digital Pulse Commands
・ step/dir
2) Command Input
・ LabView/TeraTerm via USB
3) Analog Control Input (0 ~ 3.3V, Option)
5. JOG Motion
Specifications
1. Driving Frequency: 20 ~ 110 kHz
2. Drive Voltage: 16 ~ 38V
3. Drive Duty: 0 ~ 100%
4. USB Interface to PC (use FTDI FT232R)
5. Supply Power: DC5V, 1A
6. PC Monitor Program
・ Driver Program (Tera Term) to be downloaded
① 5V Power、USB Cable
PCD-302 Type(1Axis)
Closed Type
Open Loop Type
③ 1Axis JOG Unit
2. Closed Loop Type PCD-302E Type
1. Open Loop Type PCD-302 Type
◆Options② Encoder Cable:1m Motor Cable:1m
TeraTerm
④ 3Axes JOG Unit
pulse지령(option)
PCD-301
Master microprocessor (dsPIC33F128MC804)
ADC
RS232 ch1
QEI
DIO
PulseGenerator
QEI
Speed Calculator
PIDController
FT232Rcommunication
exchange Feed foward
H bridgeCircuit(1/2)
PWMModulator
DC Step up
signalconditioner
1msec sampling time
TULAMechnical Part
OpticalEncoder
joy stick
directive
(option)
command
directive
pulse
directive
(option))
jog wheel
directive
(option)
DifferentialLine driver
(option)
TULA (Tiny Ultrasonic Linear Actuator)
18
・ No electromagnetic noise; can be used in MRI and other medical applications
・ Large blinds or roll screens for hospitals, offices, and factories
・ Actuator for surveillance cameras
・ Fingers and arms for robots, manipulators, etc.
・ Flow control for various types of valves and nozzles
Features
・ Low speed with high torque without a gear reduction
・ No heat is generated when paused with high positioning control
・ Simple, slim and lightweight design
・ High responsiveness and quiet operation
・ Does not contain magnets
Shaft Diameter (mm)
Dimensions (mm)
Drive Voltage (V)
Drive Frequency (KHz)
Rotary Speed (rpm)
Torque (kgf・cm)
Max. Torque (kgf・cm)
Maintain Toque (kgf・cm)
Encoder (p/r)
Operating Temperature Range (℃)
Temperature during continuous
motor operation (℃)
Storage Temperature Range (℃)
Life (Hrs)
A・BPhase : 1,000(Option : 5,000)
−20〜60
34〜37
91
φ6
44×44×19
3,000
−10〜50
(Motor surface) 55
A・BPhase : 1,000(Option : 5,000)
2.5
2
1
80
120
40〜44
270
φ8
65×65×22
3,000
10.2
5.5
3
100
120
Application Examples
Specification
Camera AF (Auto Focus) Unit
PUMR40(Cut Model)
RotorStator
Piezoelectric ElementSpring
Friction material
Rotary Ultrasonic Motor
Specification Model PUMR 40 PUMR 60
Weight (g)
Ultrasonic motorTiny Utrasonic Linear Actuator
Technohands Co., Ltd.
6-29-34-103 Ookurayama,
Kohoku-ku. Yokohama-shi,
Kanagawa-ken, 222-0037, JAPAN
-U.S. Sales Rep. & Distributor- Innovation Matrix, Inc.
3080 Olcott St., B105
Santa Clara, CA 95054, USA
Tel: +1(408) 329-4422
-Head Of�ice-
Fax: +1(408) [email protected]