Abstract:
An actuator scaled to macroscopic or microscopic sizes, uses ultrasonic energy to induce motion of an object in a desired direction. The actuator includes one or more pair of piezoelectric transducers connected with a transducer tip. Supplying the piezoelectric transducers with alternating current electrical power causes the tip to vibrate at ultrasonic frequencies. Urging the vibrating tip into contact with a surface on the object at a selected angle of inclination induces the object to move in the desired direction at a rate determined by the inclination angle. Multiple actuators can be used to induce a fall range of movements of variously shaped objects. In microscopic form, the actuator can be used to create a MEMS device. The optional application of a compliant material either on the transducer tip or on the object&#39;s surface enhances the movement induced by the actuator.

Description:
FIELD OF THE INVENTION 
     The present invention broadly relates to motors and actuators of both macroscopic and microscopic scale, and deals more particularly with an actuator and a related method for moving objects using ultrasonic energy. 
     BACKGROUND OF THE INVENTION 
     Miniaturization of motors, actuators and similar machine parts is receiving increasing attention because of the new uses of these devices made possible because of their small size. Additionally, these devices can be manufactured in large quantities at low piece-part cost. Current designs of miniaturized machine parts can be categorized according to size or scale. Macroscopic machine parts have a length in the range of approximately 1 to 10 inches, and while microscopic machine parts, sometimes referred to as MEMS (Micro Electro Mechanical Systems) have a length in the range of 0.01 to 1 inch. 
     In any event, existing miniaturized actuators and motors of both macroscopic of microscopic size are essentially replicas of larger motors, and thus include such component parts as windings, stators, gears, transmission links, etc. These miniaturized parts must be assembled with high precision in order to produce an operable device providing the desired function, e.g. movement of an electrically activated component that then mechanically engages other parts to induce motion. Depending upon the engagement configuration, this motion may be linear in any of several axes, rotary, circular, etc. Because of the number of complex parts that must be assembled with a high degree of precision, the yields of parts meeting target specifications and performance are relatively low using current manufacturing processes. These low yields in turn increase the cost of the parts. Accordingly, it would be desirable to provide a new form of actuator and related method for inducing movement of an object on a microscopic or macroscopic scale which eliminates the problems mentioned above. 
     It is therefore an object of the present invention to provide an actuator and related method for inducing motion of an object which utilizes an ultrasonic transducer as the prime motive power source. 
     Another object of the invention is to provide an actuator and related method of the type mentioned above which employs well known piezoelectric devices powered by an alternating current power supply that generates ultrasonic vibrations which can be applied to the surface of an object in order to induce motion of the object. 
     A further object of the invention is to provide an actuator and method as generally described above, which is especially simple to manufacture at low cost while providing high manufacturing yields in the production process. 
     Another object of the invention is to provide simple, miniaturized actuators that can be used in combination with each other to produce a variety of movements and motions of an object. 
     These, and further objects and advantages of the present invention will be clear or will become apparent during the course of the following description of a preferred embodiment of the present invention. 
     SUMMARY OF THE INVENTION 
     According to one aspect of the invention, an ultrasonic motion actuator is provided for inducing movement of an object, comprising an ultrasonic transducer having at least two piezoelectric crystals arranged to generate longitudinal vibratory movement in response to the application thereto of alternating current electrical power. The actuator further includes a transducer tip connected with the crystals that may be used to contact the surface of an object in order to transmit the vibratory movement to the object. The frictional engagement of the tip and accompanying vibratory motion imposes a force on the object that induces motion thereof in a direction determined by the inclination angle of the transducer tip. The transducer, including the tip, may be either macroscopic or microscopic in size. Typically, the tip may be fabricated of a metallic material such as stainless steel. The tip may optionally include a coating of compliant material thereon such as a cured polyimide or rubber. Alternatively, the compliant material may be formed on the surface of the object in order to increase surface friction between the object and the transducer tip. 
     According to another aspect of the invention, a method is provided for moving an object in a desired direction, comprising the steps of providing an ultrasonic transducer having a tip that vibrates along a longitudinal axis when power is applied to the transducer; urging the tip into vibratory contact with a surface on the object; inclining the transducer tip relative to the surface such that the tip axis is aligned with and pointed in the desired direction of movement; and, supplying electrical power to the transducer so as to cause the tip to vibrate. By changing the angle of inclination of the transducer tip, the force component in the desired direction of travel is either increased or decreased, thus increasing or decreasing the speed of movement of the object. The object may be moved in any of three orthogonal axes by employing a pair of the transducers to engage at least two different surfaces on the object. 
     The actuator of the present invention can be employed to produce tilting movement of a rigid body about a pivot point by employing a first actuator to hold the body against a fulcrum while a second actuator is employed to impart a moment on one end of the body so as to cause the latter to tilt about the pivot point. 
     The actuator of the present invention can be advantageously employed as a drive for rotating a disk, such as a computer memory disk, about an axis of rotation. The drive includes an ultrasonic transducer for producing longitudinal vibratory movement when energized by alternating current electrical power, and a transducer tip in contact with and inclined relative to the surface of the disk for transmitting a longitudinal vibratory movement to the disk which results in a force being imposed on the disk that causes it to rotate about the axis. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     In the drawings which form an integral part of the specification and are to be read in conjunction therewith, and in which like components are designated by identical components in the various views: 
     FIG.  1 ( a ) is a diagrammatic, side view showing the tip of the actuator transducer of the present invention engaging a planar body to be moved; 
     FIG.  1 ( b ) is a view similar to FIG.  1 ( a ) but showing the transducer tip inclined so as to move the body in one direction; 
     FIG.  1 ( c ) is a view similar to FIG.  1 ( b ), but showing the transducer tip inclined in the opposite direction so as to move the body in the opposite direction; 
     FIG. 2 is a diagrammatic view showing the various angles of inclination of the transducer tip relative to the surface of an object to be moved; 
     FIG.  3 ( a ) is a diagrammatic end view of a cylinder, showing how the transducer tip is oriented to produce rotational motion of the cylinder; 
     FIG.  3 ( b ) is a perspective view of the cylinder of FIG. 3 a , showing how the transducer tip is employed to produce axial movement of the cylinder; 
     FIG. 4 is a perspective view of a planar body showing how the transducer tip may be oriented to move the body along either of two orthogonal axes; 
     FIG. 5 is a perspective view of a cube shaped body, depicting how a pair of transducer tips may be employed to move the body along any of three orthogonal axes; 
     FIG. 6 perspective view of a disk showing how the transducer tip may be employed to produce rotational movement of the disk; 
     FIG. 7 is a side view of an actuator in accordance with the preferred embodiment of the present invention, shown in relation to a graph depicting longitudinal amplitude along the length of the actuator; 
     FIG. 8 is a view similar to FIG. 7 but depicting a longer actuator transducer having a different resonant frequency; 
     FIG. 9 is a diagram showing how the speed of movement of the object is affected by the contact angle of the transducer tip; and, 
     FIGS.  10 ( a )- 10 ( c ) are diagrammatic views depicting three successive states of a machine for producing tipping movement of a rigid body, using actuators in accordance with the present invention. 
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
     In accordance with the present invention, an actuator is provided for inducing motion of an object by employing an ultrasonic transducer that is activated at typical ultrasonic frequencies. As will be discussed below in more detail, the transducer is provided with a vibrating tip that is placed in frictional contact with a surface on the object so as to transmit energy from the transducer to the object&#39;s surface. Depending on the contact angle of the vibrating tip relative to the contacted surface, a component of force is transmitted from the tip to the object which causes the object to move in the direction of the force component. 
     One form of the actuator of the present invention is depicted in FIG.  7 . The actuator includes a cylindrical body  50 , which may be formed of stainless steel, on one end of which there is provided an elongate tip  52 . The exact geometry of the end of the tip will depend in the particular application, but generally, a geometry that produces maximum frictional contact and which “digs in” to the object&#39;s surface is highly desirable. Body  50  houses a pair of well known piezoelectric crystals  31 ,  32  that are arranged in face-to-face contact such that their polarities are opposite (+/+or −/−) at the junction between the contacting crystals. Because the actuator is vibrating at ultrasonic frequencies, the amplitude of these longitudinal vibrations possesses nodes along the length of the actuator; this variation in longitudinal amplitude is a function of length. The nodes are points along the length of the transducer where the amplitude is zero. The graph of longitudinal amplitude versus length is shown in the graph of FIG. 7; from this view, it can be seen that the piezoelectric crystals are located at a node  25 . In other words, at the longitudinal point of the junction between the two crystals, the amplitude of the vibration is zero. As a result, expansion and contraction of the crystals upon excitation thereof causes them to expand or contract against each other with equal force. The vibrational energy is transmitted to the tip  52 ; this energy is at its maximum value at the outer end of the tip which corresponds to anti-node  27 . FIG. 8 is a view similar to FIG. 7 but shows a transducer having a longer length than that shown in FIG.  7 . The length of the transducer determines its resonant frequency. The bidirectional arrow  29  in FIGS. 7 and 8 represents the direction of tip vibration, i.e. along the longitudinal axis of the actuator body  50 . 
     The actuator of the present invention may be either of macroscopic or a microscopic scale. As used herein “macroscopic” is defined as actuators having a length in the size of 1 to 10 inches while “microscopic” is defined as an actuator having a length of between approximately 0.01 to 1 inch. 
     The inventors have successfully constructed and operated a prototype actuator according to the present invention. This prototype actuator, which includes a transducer that is commercially available from Sono-Tek Corp. of Milton, N.Y., was approximately 4.5 inches long and 1.5 inches in diameter, and operated at a frequency of 60 KHz. The typical frequency range for macro piezoelectric transducers is in the range of 25 KHz to 120 KHz, with the actual length of the actuator determining the resonant frequency, as indicated earlier. The prototype actuator described above was employed to move a series of objects. FIG. 9 depicts the range of inclination through which the prototype actuator was moved in order to achieve movement of a flat object  24  within a plane. The tip  52  was brought into contact with the object  24 , and when the actuator was held such that its longitudinal axis was held perpendicular or at 90 degrees relative to the plane of the object&#39;s surface, as shown in FIG. 9, there was no lateral movement of the object  24 . However, as the actuator was inclined toward the left or toward the right as shown in FIG. 9, a component of lateral force was imposed upon the object  24 , causing the latter to move in the direction of inclination of the actuator. As the angle was increased, the speed of movement of the object  24  increased. It was found that at both 25 and 155 degrees of inclination, the vibrations imparted from the actuator transmitted the greatest amount of lateral energy, thus moving the object at maximum speed. In this example, the power supplied to the prototype actuator was about 15 watts or less, using a conventional line voltage (110-115 V) and delivery of a maximum of 60-70 volts RMS to the actuator. Depending upon the power setting, it was found that the longitudinal, vibratory motion of the tip  52  was between 2 and 6 microns at a resonant frequency of 60 KHz. It was found that the amount of tip motion is determined not only by the power setting, but by the length of the actuator as well. The free speed of movement of the object is approximately equal to the motion length of the tip multiplied by the frequency of vibrations of the tip. Thus for example, with a tip movement of 6 microns vibrating at 60 KHz, the free speed would be approximately 0.36 m/s. The lineal speed of the object moved by the actuator is dependent upon the tip angle, as well as the level of friction between the surface and the tip, as previously discussed. Depending on the exact type of actuator and tip, the typical range of lineal speed of the object is between 0.001 and 1.0 m/s. 
     The various types of movement of different kinds of objects that can be achieved using the actuator of the present invention will now be discussed, and in this connection, reference is now made to FIG. 1 a  through  1   c . An actuator tip  20  forming part of the actuator (not shown) of the present invention possesses a longitudinal axis  22 , which in the case of FIG. 1 a  is arranged perpendicular to the surface of a flat object  24  to be moved. The tip can be seen to possess an essentially square face with a pair of edges that are intended to dig into the object&#39;s surface. Upon energizing of the actuator, the tip  20  vibrates longitudinally in the direction of the arrows  26  and imposes a force on the object  24  which does not have a lateral component. In other words, the force imposed on the object by the tip is perpendicular to the object&#39;s surface. Consequently, there is no lateral movement of the object  24 . However as shown in FIG. 1 b , when the tip  20  is inclined toward the right, the force imposed on the object  24  by the tip  22  includes a lateral component which causes the object  24  to move towards the left. Conversely, as shown in FIG. 1 c , when the tip  20  is inclined towards the left, a lateral component of force is imposed on the object  24  which causes the latter to move toward the right. The greater the angle of inclination of the tip  20 , relative to the surface of the object  24 , the faster the movement. In other words, the lateral component of force imposed on the object  24  is directly proportional to the amount of inclination or angular offset from the vertical or 90 degree position of the tip  20 , shown in FIG. 1 a.    
     The preceding description of the operation of the actuator with reference to FIG. 1 a - 1   c  assumes a mechanical support (not shown) for the vibrating tip  20  that permits a slight pivoting action when offset from a perpendicular position. This pivoting motion causes the tip to frictionally engage the contacting surface during the downward movement of the tip during each cycle of vibration. The basic motion achieved by the actuator of the present invention can be illustrated by an example taken from the logging industry. To move individual logs that float in rivers towards saw mills, loggers will walk on them with calks (steel-spiked boots). The calks frictionally engage the logger&#39;s moving feet with the log surface and cause the bipedal motion to produce a lineal motion of the log. If the logger is able to keep himself stationary, his walking motion moves the log at the speed of his gait. Smaller, slower steps produce slower movement; larger, faster steps produce faster motion in the log. In a similar manner, the tip of the ultrasonic transducer of the present invention held stationary against the surface of another object will cause motion in such object. The speed of the object is determined by the frequency (step speed) and contact angle (step size) of the vibrating tip. 
     To produce satisfactory frictional contact between the vibrating tip and the surface of the object, either, or both the surfaces of the tip and the object must have a high coefficient of friction. This may be achieved by providing a surface coating either on the tip or on the object surface that is slightly compliant. For example, if the surface of the object to be moved is coated with a cured polyamide or a hard durometer rubber, the rigid vibrating tip can mechanically engage the object surface by penetrating it slightly during the downward movement of the tip during each vibrational cycle thereof. Alternatively, if the vibrating tip is provided with such a coating, it is better able to mechanically engage a surface to be moved which is rigid or uncoated. Coatings can vary in thickness depending upon the particular application. In the case of macroscopic scale actuators, such coatings can be in a range of 50 to 500 microns in thickness. In the case of microscopic scale actuators, these coating can be in the range of 5 to 50 microns in thickness. As will be discussed below, the necessary friction can also be achieved by forming a series of grooves in the object that are engaged by the transducer tip. The spacing of the grooves should be a multiple of the step length of the transducer tip. 
     FIG. 2 practically illustrates the relation of the transducer axis to the plane of the object to be moved. When the tip axis  22  is vertical, the actuator is in the “still” position and there is no movement of the object. However, when the tip axis  22  is tilted from vertical, the object  24  moves in the direction  28 , with faster movement resulting from greater angles of tip inclination. 
     FIGS. 3 a  and  3   b  show how a single actuator according to the present invention can produce both rotational and linear motion of an object. In this case, the object is a cylinder  26 . The actuator tip is used to contact the cylindrical outer surface of the cylinder  26 , preferably between the opposite ends of the cylinder  26 . As shown in FIG. 3 a , when the actuator axis  22  is tilted from vertical in a direction transverse to the longitudinal axis of the cylinder  26 , the cylinder  26  is caused to rotate in either circular direction  30 , depending upon the direction of actuator inclination. However, as shown in FIG. 3 b , the actuator tip axis  22  may be tilted away from vertical, but in a direction parallel to the longitudinal axis of the cylinder  26 , in which case an axial component of force is imparted to the cylinder  26 , causing the latter to move in the axial direction  32 . 
     FIG. 4 depicts a table top  30  that is moved along either of two orthogonal axes  32 ,  34  using an actuator that is mounted for inclination in more than one plane. In the illustrated embodiment, the actuator is mounted so as to be tiltable within a plurality of planes; the various possible positions of the actuator in these planes for a given inclination angle is represented by the cone  36 . Where the actuator axis  22  can be tilted in multiple planes, such as that shown in the column  36 , the table  30  may be moved not only along axes  32 ,  34  but in any direction aligned within the plane defined by the two axes  32 ,  34 . 
     Whereas FIG. 4 depicted the movement of an object in a single plane, FIG. 5 shows how the actuator of the present invention can be employed to move an object in multiple planes. Here, an object such as a cube  38  is acted upon by two actuators whose tip axes  22  are shown to be inclinable around 360 degrees of the center perpendicular or “still” position of the actuator. Using this configuration, the two actuators can move the cube  38  along any of three orthogonal axes  40 ,  42 ,  44 . Of course, it is understood that the actuators must be mounted in such a way so as to stay in contact with their respective actuating surfaces. 
     The actuator in the present invention can be employed, for example, to produce rotation of a disk  46  about a central axis. Such an arrangement may be advantageously employed in computer memory disks drives to move or index disks containing electronically stored information. As shown in FIG. 6, the tip of the actuator can be brought into contact with a point  45  on one flat surface of the disk  46 , and at desired radial distance from the center axis thereof. In order to produce rotational motion of the disk  46  as shown by the arrows  48 , the actuator tip axis  22  is tilted in either of two directions, depending upon the direction of angular motion that is desired. The rate of angular motion of the disk  46  depends in part upon the radial distance of the point of contact  45  from the disk&#39;s central axis. In order to enhance the efficiency with which power is delivered from the actuator to the disk  46 , a plurality of radially oriented grooves  47  may be formed in the surface of the disk. These grooves  47  are spaced apart at a multiple at the step length of the actuator tip for a given power setting. As a result of the presence of the groves  47 , there will be less slippage between end of the tip and the disk surface. The surfaces of the other types of objects that can be moved with the actuator of the present invention elsewhere described herein can also similarly benefit from the presence of grooves in the object&#39;s surface that are matched to multiples at the step length of the actuator tip in order to improve the efficiency of movement imparted by the tip. 
     FIGS. 10 a - 10   c  show how actuators in accordance with the present invention can be employed in a mechanism to produce the tilting movement of a rigid body. A first actuator  58  is provided which vibrates in the direction of the arrow  60 , and imparts a vibrational force on the rigid body  62 . The force applied by actuator  58  holds the rigid body against a pivot or fulcrum  64 . A second actuator comprising a stack of piezoelectric crystals  66  contacts the bottom surface of one end of the rigid body  62 . FIG. 10 a  shows the position of the elements when actuator  58  is energized but no voltage is applied to actuator  66 , and thus the stack of crystals  66  is fully contracted. In FIG. 10 b , actuator  66  has been energized by the application of voltage thereto causing the crystals  66  to expand in the direction of arrow  68 , and thereby cause the body  62  to pivot in the direction of arrows  70 , about the fulcrum  64 . FIG. 10 c  shows the actuator  68  fully extended. As a result, the rigid body  62  is pivoted from a left tilt position to a right tilting position. This double actuator arrangement may be advantageously employed to produce motion that is required for spinning media or linear actuators such as sliding read/write heads. 
     From the foregoing, it is apparent that the novel actuator and method for inducing motion in an object as described above not only provide for the reliable accomplishment of the objects of the invention, but does so in a particularly effective and economical manner. It is recognized, of course, that those skilled in the art may make various modifications of the invention without departing from the spirit and scope of the present contribution to the art. Accordingly it is to be understood that the protection sought and to be afforded hereby should be deemed to extend to the subject matter claimed and all equivalents thereof fairly within the scope of the invention.