Power Consumption and Optimized Driving Circuit of Bimorph In-pipe Micro Robot

LUO Yi; GONG Zhen-bang; SUN Lin-Zhi; SUN Ping

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Power Consumption and Optimized Driving Circuit of Bimorph In-pipe Micro Robot

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- Power Consumption and Optimized Driving Circuit of Bimorph In-pipe Micro Robot
- Optics and Precision Engineering Vol. 9, Issue 6, Pages: 539-541(2001)
- 作者机构：
  
  上海大学机电自动化学院上海,200072
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242.3
- Received：20 August 2001，
  
  Revised：23 August 2001，
  
  Published Online：15 December 2001，
  
  Published：15 December 2001
- 稿件说明：
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罗怡, 龚振邦, 孙麟治, 孙萍. 双压电薄膜管道微机器人的功耗分析及电路优化设计[J]. 光学精密工程, 2001,(6): 539-541

LUO Yi, GONG Zhen-bang, SUN Lin-zhi, SUN Ping . Power Consumption and Optimized Driving Circuit of Bimorph In-pipe Micro Robot[J]. Editorial Office of Optics and Precision Engineering, 2001,(6): 539-541
罗怡, 龚振邦, 孙麟治, 孙萍. 双压电薄膜管道微机器人的功耗分析及电路优化设计[J]. 光学精密工程, 2001,(6): 539-541 DOI：

LUO Yi, GONG Zhen-bang, SUN Lin-zhi, SUN Ping . Power Consumption and Optimized Driving Circuit of Bimorph In-pipe Micro Robot[J]. Editorial Office of Optics and Precision Engineering, 2001,(6): 539-541 DOI：

摘要

研究了PZT双压电薄膜管道微机器人的功率消耗

推导出其功耗计算公式S=Kfcv

指出微机器人功耗与驱动电压幅值平方成正比

与驱动电压的频率成正比

与微机器人的电容成正比.优化设计了微机器人的驱动电路

使得其在驱动电压幅值不变的情况下

大幅度提高运动速度.通过实验验证此结论.以上分析研究是此类微机器人无缆化设计的理论基础.

Abstract

The power consumption of an in-pipe PZT actuator micro robot has been studied

and the formula

S=Kfcv

has been derived

which means that the power consumption is proportional to frequency of voltage

square of voltage

and to the capacity of robot C. An optimized driving circuit for the micro robot has been studied

too. With this circuit

the robot can move at high speed with the same driving voltage. Experiment has been done to prove this conclusion. All these are theoretical bases for designing a wireless robot system.

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references

秦增煌.电工学[M].北京:高等教育出版社,1981.

陈寅,颜国正,戎荣,等.电磁驱动微小型机器人控制系统的研究[J]. 光学精密工程,1998,6(4):70-74.

孙麟治,孙萍,秦新捷,等.细小管道内爬行的微机器人[J].光学精密工程,1998,6(5):57-63.

罗怡,龚振邦,孙麟治,等.双压电薄膜微机器人驱动器的稳态响应[J].光学精密工程,2001,9(1):59-62.

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Status and development of in-pipe micro robots

Effect of the voltage amplitude on moving performance of PZT in-pipe bimorph micro robot

Related Author

SUN Li-ning

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Related Institution

Robot Research Institute, Harbin Institute of Technology

School of Mechatronics and Automation, Shanghai University

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