Model and Property Analysis for a Ball-Hinged Three-Degree-of-Freedom Piezoelectric Spherical Motor.

Zhenyu Wang, Jun Li, Wanbing Liu, Guanshuai Jia, Ban Wang

Abstract read

In one paragraph

Article in Sensors (Basel, Switzerland), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

0numbers the graph read from it

0cells of the map it votes in

1citing papers in PubMed

–field-weighted citation impact

1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

Rotor Attitude Estimation for Spherical Motors Using Geometry-Constrained Kalman Transformer Algorithm in Monocular Vision.Sensors (Basel, Switzerland) · 2026
Article

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

5 authors.

Zhenyu WangSchool of Mechanical Engineering, Hangzhou Dianzi University Information Engineering College, Hangzhou 311305, China.

Jun LiSchool of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China.

Wanbing LiuHengda Fuji Elevator Co., Ltd., Huzhou 313009, China.

Guanshuai JiaCollege of Electrical Engineering, Zhejiang University, Hangzhou 310027, China.

Ban WangSchool of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China.ORCID 0000-0003-2880-9752

Funding

National Natural Science Foundation of China 51805124Zhejiang Provincial Natural Science Foundation of China LZY22E050001

6 · The paper itself

Abstract

Multi-degree-of-freedom piezoelectric motors have the advantages of high torque and resolution, simple structure, and direct drive, which are widely used in robot wrist joints, deep-sea mechanisms, medical equipment, and space mechanisms. To solve the problems of high force/torque coupling degree and ball low stator and rotor bonding strength of the traditional traveling wave type three-degree-of-freedom piezoelectric spherical motor, a new structure of ball-hinged piezoelectric spherical motor is proposed. Through coordinate transformation and force analysis, the driven mathematical model of the spherical motor is given. The model shows that the three degrees of freedom of the motor are coupled with each other. According to the mathematical model of the spherical motor, the mechanical properties of the motor are analyzed by the computer simulation. The results show that the stalling torque coefficient

Indexed as

ball-hingedmathematical modelmechanical propertiespiezoelectric spherical motorthree-degree-of-freedom

Identifiers

PMID38475007

DOI10.3390/s24051470

PMCPMC10935015

What OpenQuestion holds

Textmetadata

LicenceCC BY

Read underepoch 390

Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.