Aerospace applications of PKM Prof. Rosario Sinatra Dipartimento di Ingegneria Industriale e Meccanica Università degli Studi di Catania March 30, 2007 EURON07 WINTER SCHOOL PARALLEL ROBOTS: Theory and Applications 2nd International UMH Robotics Winter School Flamingo Oasis Hotel, Benidorm, Spain March , 2007

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AEROSPACE MECHANISMS ULTRASONIC MOTOR 2 Supply Channels ELECTRICAL Equal amplitude V maxA =V maxB Opposite phase (90°) Flexural vibration 2 waves with time phase of 90° Rotational motion around vertical axes ROTORS STATOR Travelling wave PIEZOELECTRICS ROTORS STATOR

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A. Meschini, R. Sinatra and S. Pirrotta, A Parallel Mechanism for a Gregorian offset Satellitare Antenna with double reflector, Proceedings of the WORKSHOP on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, October 3–4, Quebec City, Quebec. A. Cammarata and R. Sinatra, 2005, Dynamics of a two-dof parallel pointing mechanism, Fifth ASME International Conference on Multibody Systems, Nonlinear Dynamics and Control, Sept , 2005, Long Beach, California, USA. R. Di Gregorio, A. Cammarata and R. Sinatra, 2005, On The Dynamic Isotropy Of 2-Dof Mechanisms, Fifth ASME International Conference on Multibody Systems, Nonlinear Dynamics and Control, Sept , 2005, Long Beach, California, USA. R. Sinatra, D. Scalora and A. Meschini, 2004, Direct Kinematics of a Parallel Pointing Mechanism Configuration, Proceedings of the WSEAS Conferences, August 17-19, 2004, Corfu, Greece. S. Pirrotta, R. Sinatra, A. Meschini, Evaluation of the Effect of Preaload Force on Resonance Frequencies for a Traveling Wave Ultrasonic Motor, IEEE Transactions on ultrasonics, ferroelectrics, and frequency control, Vol. 53, n.4, pp S. Pirrotta, R. Sinatra and A. Meschini, A novel simulation model for ring type ultrasonic motor, Meccanica International Journal, Vol. 42, n.2, pp References