PIEZOELECTRIC MOTORS WITH BUILT-IN SENSORS

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1 PIEZOELECTRIC MOTORS WITH BUILT-IN SENSORS WAVELLING TM TECHNOLOGY WLG-20 / WLG-30 /WLG-30L/ WLG-45 / WLG-60 / WLG-75 INNOVATION BREAKTHROUGH: Piezomotors with built-in sensors of speed/position and torque. Easy motor control. Compact & light Silent operating Precise positioning High torque Low speed without reducer - No power supply holding torque Fast mechanical response 20 mm 30 mm 45 mm 60 mm 75 mm WLG-20 WLG-30 WLG-30L WLG-45 WLG-60 WLG-75 New : WAVELLING TM actuators can now be turned into linear ones.

2 OUR TECHNOLOGY WAVELLING TM PRESENTATION The WAVELLING Technology developed and patented by relies on the piezoelectric actuation technology using mechanical waves. This operating mode provides a high power density combined with good efficiency for small motors (<20W mechanical). The motor has a very simple and purely mechanical structure (no winding) facilitating integration. Benefiting from its expertise, has developed a range of piezoelectric motors incorporating speed/position sensors and torque sensors giving these motors outstanding properties for light weight robotics applications, haptic interfaces, low-energy electro-valves, mini metered dose pumps and optronic equipment control applications (gimbal for drones ). Each type of motor can embed a speed-position sensor and/or a torque sensor. Output signals of the sensors can be directly used on the motor s control board (Cf. characteristics). ADVANTAGES Light and compact design (built-in sensors) Pancake shape ultrasonic motor Stepper motors competitors (or direct drive high torque motors) High torque / low speed. No-reducer (direct drive) No-power supply holding torque (built-in brake) No electromagnetic disturbances Silent, vibration-free Modular design : it can be fitted into the very core of the mechanism 0.01 precision (depends on the sensor) Fast mechanical response <1ms Operating temperatures : C High shocks and vibrations resistance (compact) Torque or speed control (depends on the built-in sensors) Very easy to control thanks to its responsiveness and its built-in sensors.

3 EXAMPLES OF APPLICATIONS Functions Applications Characteristics Adjustment and Regulation of gas or liquid flow No-power holding torque locking Adjustment of equipment (seats, head rest, Silent ergonomic devices, screens High torque low speed Silent locking /unlocking Luminous flux Control of light beams (LED, mirrors ) No power holding torque control High dynamics #1 ms Optronics and Alignment of optical systems Optical encoder optomechanics Optical autofocus (cameras, ) High dynamics #1 ms 3 axis or 2axis video camera gimbals No power holding torque (Drones, vehicles, robots ) Zero backlash (no gear) Optical components support Silent (tracking/pointing/stabilization): (Hollow shaft) Drones Low electromagnetic Laser beam control interferences Optomechanics: shutter, filter changer, goniometer orientation Humanoïd robots Actuators for expressive robots (actroids): Optical encoder eyes movements, mouth Torque sensor Small articulation movement or prosthetics No-power holding torque Silent Zero Backlash (no gear). Light robotics and Multi-axis robotic arms (torque control) Optical encoder surgical robots Robotic arms with force feedback (haptic) Torque sensor Direct drive small joints (articulation) No-power holding torque Mechanical integration directly in the Silent structure Zero backlash (no gear). MRI Compatible High dynamics #1 ms Probes positioning Higly mechanical integration No electromagnetic field Piezovalves and Low energy multi-way piezovalves (no Optical encoder minipumps power supplied On /Off position) No-power holding torque Pinch piezoelectric valve Silent Small metered dose pump (pipetting, Zero backlash (no gear). precise distribution, drop on demand, mini High dynamics#1 ms fluidics ) Highly mechanical Miniature pumps (rotary piston, integration peristaltic ) High torque low speed Positioning and Mototorization of the XY tables Optical encoder active vibration Hexapods Torque sensor control Actuators for active vibration control No-power holding torque Silent Zero backlash (no gear) High dynamics #1 ms Highly mechanical integration

4 RANGE OF PIEZOMOTORS The piezomotors range developed by TELEMAQ extends from 20mm diameter to 75mm diameter. The rated speeds may vary from a few RPM to 600 RPM following types of motors without stage gear reduction (no backlash or jolting). The nominal torques can vary from a few mn.m to 3N.m according to the type of motors. TELEMAQ offers the following motors: Diameters 20mm; 30mm; 45mm; 60mm and 75mm. The motors can incorporate speed/position sensors or torque sensors according to the applications. Réf. Table of characteristics: Rotary motors Stator Mass Power DC Max Speed Max Torque Holding torque Rated Speed Rated torque Mechanical power Response time Angular precision [2] Torque sensibility WLG-20 20mm 10 g 12V 380 rpm [1] 30mN.m 50mNm 210 rpm 30 mnm 0.7 W # 1ms mn.m WLG-30 30mm 37 g 7.5V 300 rpm 100mNm 150mNm 250 rpm 50 mnm 1.3 W # 1ms mn.m WLG-45 45mm 90 g 12 V 250 rpm 300mNm 450mNm 150 rpm 180 mnm 3 W # 1ms mn.m WLG-60 60mm 240 g 12 V 230 rpm 900mNm 1.3 Nm 110 rpm 0.6 N.m 7 W # 1ms mn.m WLG-75 75mm 260 g 12 V 200 rpm 1200mNm 1.6Nm 150 rpm 0.75 N.m 12 W # 1ms mn.m [1] Up to 600rpm when idle [2] Built-in sensor Linear motors Réf. Stator Mass Power DC Max Speed Max Force Holding Force Rated Speed Rated Force Mechanical Power Response Time Linear Precision Stroke WLG-30L 30mm 45 g 7.5V [1] 20mm/s 7N 10N 11 mm/s 3.5N [2] 1.3 W # 0,5ms +/- 50 μm [3] 50 mm [4] [1] Can be adapted [2] Up to 10N [3] Obtained with internal coder [4] Can be increased Photo of a Gimbal carrying a Go Pro using 3 motors WL-30

5 MOTEUR WLG-20 Preliminary data subject to change without notice TECHNICAL SPECIFICATIONS Piezoelectric Motor WLG-20 Stator diameter (mm,in) : 20(0.78) Dimensions (mm,in) : 24(0.94) Height (mm,in) : 10 (0.40) Motor weight (mechanical part) (g) : 10 Electronic card weight (g) : 10 Max speed (rpm) : 380 Rated Speed (rpm) : 210 Rated torque (mn.m) : 30 Max torque (mn.m) : 30 Holding Torque (mn.m) : 50 Output power (W) : 0.7 Response time (ms) : 1 Direction change time (ms)(cw/ccw) : 1 Angular accuracy ( ) : 0.25 Torque resolution (mn.m) : 1 PCB dimensions (mm) : 30 x 25 x 8 Power supply (V) : 12 Max current (A) : 0.6 DRAWINGS (mm) ELECTRONIC CARD Control of the motor : ON/OFF : 0 V : OFF 5 V : ON DIRECTION : 0 V : CLOCKWISE 5 V : ANTICLOCKWISE ENCODER : 1440 increments/rotation : INDEX sets the position 0 of the increment. INCR sends back the angular position of the motor in function of INDEX GND is linked with the mass. Order

6 MOTEUR WLG-30 Preliminary data subject to change without notice TECHNICAL SPECIFICATIONS Piezoelectric Motor WLG-30 Stator diameter (mm,in) : 30(1.18) Dimensions (mm,in) : 34(1.34) Height (mm,in) : 15(0.59) Motor weight (mechanical part) (g) : 37 Electronic card weight (g) : 23 Max speed (rpm) : 300 Rated speed (rpm) : 250 Rated torque (mn.m) : 50 Max torque (mn.m) : 100 Holding torque (mn.m) : 150 Output power (W) : 1.3 Response time (ms) : 1 Direction change time (ms)(cw/ccw) : 1 Angular accuracy ( ) : 0.18 Torque resolution (mn.m) : 1 PCB dimensions (mm) : 36 x 33 x 25 Power supply (V) : 7.5 Max current (A) : 1.2 DRAWINGS (mm) ELECTRONIC CARD Control of the motor : ON/OFF : 0 V : OFF 5 V : ON DIRECTION : 0 V : CLOCKWISE 5 V : ANTICLOCKWISE ENCODER : 2000 increments/rotation : INDEX sets the position 0 of the increment. INCR sends back the angular position of the motor in function of INDEX GND is linked with the mass. Order

7 MOTEUR WLG-75 Preliminary data subject to change without notice TECHNICAL SPECIFICATIONS Piezoelectric Motor WLG-75 Stator diameter (mm,in) : 75(2.95) Dimensions (mm,in) : 80(3.15) Height (mm,in) : 22(0.87) Motor weight (mechanical part) (g) : 260 Max speed (rpm) : 200 Rated speed (rpm) : 150 Holding torque (N.m) : 1.6 Max torque (N.m) 1.2 Rated torque (N.m) : 0.75 Output power (W) : 12 Response time (ms) : 1 Direction change time(ms)(cw/ccw) : 1 Angular accuracy ( ) : 0.06 Torque resolution (mn.m) : 1 PCB dimensions (mm) : 75 x 75 x 30 Power Supply (V) : 12 Max current (A) : 5.6 DRAWINGS (mm) ELECTRONIC CARD Control of the motor : ON/OFF : 0 V : OFF 5 V : ON DIRECTION : 0 V : CLOCKWISE 5 V : ANTICLOCKWISE ENCODER : 5400 increments/rotation : INDEX sets the position 0 of the increment. INCR sends back the angular position of the motor in function of INDEX GND is linked with the mass. Order

8 MOTEUR WLG-30L Preliminary data subject to change without notice TECHNICAL SPECIFICATIONS Piezoelectric motor WLG-30L Stator Diameter (mm,in) : 30(1.18) Motor weight (mechanical part) (g) : 45 Electronic card weight (g) : 23 Rated speed (mm/s) : 11 Rated force (N) : 3.5 Max force (N) : 7 Holding torque (N) : 10 Output power (W) : 1.3 Response time (ms) : 0.5 Direction change time (ms)(cw/ccw) : 0.5 Linear precision (μm) : 50 Stroke (mm) : 50 PCB Dimensions (mm) : 36 x 33 x 25 Power Supply (V) : 7.5 Max current (A) : 1.2 DRAWINGS (mm) ELECTRONIC CARD Control of the motor : ON/OFF : 0 V : OFF 5 V : ON DIRECTION : 0 V : CLOCKWISE 5 V : ANTICLOCKWISE ENCODER : 2000 increments/rotation : INDEX sets the position 0 of the increment. INCR sends back the angular position of the motor in function of INDEX GND is linked with the mass. Order

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