US 12,088,220 B2
Vibrating actuator, multi-axis stage, articulated robot, and continuum robot
Yasumichi Arimitsu, Kanagawa (JP)
Assigned to Canon Kabushiki Kaisha, Tokyo (JP)
Filed by CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed on Aug. 23, 2022, as Appl. No. 17/893,855.
Claims priority of application No. 2021-141411 (JP), filed on Aug. 31, 2021.
Prior Publication US 2023/0060266 A1, Mar. 2, 2023
Int. Cl. H02N 2/02 (2006.01); B25J 9/10 (2006.01); B25J 9/06 (2006.01); B25J 9/16 (2006.01)
CPC H02N 2/026 (2013.01) [B25J 9/104 (2013.01); H02N 2/028 (2013.01); B25J 9/065 (2013.01); B25J 9/1625 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A vibrating actuator comprising:
a vibrator including an elastic body and an electrical-mechanical energy transducer; and
a contact body that is long in a predetermined direction and configured to contact the vibrator,
wherein the vibrator and the contact body are configured to be relatively moved in the predetermined direction by vibration of the vibrator,
wherein an end portion of the contact body is covered with a viscoelastic body circumferentially with respect to the predetermined direction.