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This paper presents a new type of pre-pressure device for the three degree-of-freedom (3-DOF) spherical ultrasonic motors (USM). The device is composed of stator coils and spherical rotor with permanent magnet (PM) poles, and the electromagnetic forces between the coils and the PM poles are employed to generate the pre-pressure on the vibrator of the spherical USM. The pre-pressure balance equation...
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