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

LUO Yi; LI Chao-dong; GONG Zhen-bang; SUN Lin-Zhi; WANG Qin-que; SUN Ping

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

更新时间：2020-08-12

- Effect of the voltage amplitude on moving performance of PZT in-pipe bimorph micro robot
- Optics and Precision Engineering Vol. 10, Issue 1, Pages: 56-60(2002)
- 作者机构：
  
  上海大学机电工程与自动化学院上海,200072
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242.3
- Received：22 June 2001，
  
  Revised：12 December 2001，
  
  Published Online：15 February 2002，
  
  Published：15 February 2002
- 稿件说明：
移动端阅览
罗怡, 李朝东, 龚振邦, 孙麟治, 汪勤悫, 孙萍. 驱动电压幅值对双压电薄膜管道微机器人运动的影响[J]. 光学精密工程, 2002,(1): 56-60

LUO Yi, LI Chao-dong, GONG Zhen-bang, SUN Lin-zhi, WANG Qin-que, SUN Ping. Effect of the voltage amplitude on moving performance of PZT in-pipe bimorph micro robot[J]. Editorial Office of Optics and Precision Engineering, 2002,(1): 56-60
罗怡, 李朝东, 龚振邦, 孙麟治, 汪勤悫, 孙萍. 驱动电压幅值对双压电薄膜管道微机器人运动的影响[J]. 光学精密工程, 2002,(1): 56-60 DOI：

LUO Yi, LI Chao-dong, GONG Zhen-bang, SUN Lin-zhi, WANG Qin-que, SUN Ping. Effect of the voltage amplitude on moving performance of PZT in-pipe bimorph micro robot[J]. Editorial Office of Optics and Precision Engineering, 2002,(1): 56-60 DOI：

摘要

研究了一种细小管道内移动微机器人

它可以搭载摄像机进入φ20mm的管道内部进行检测作业.微机器人驱动器采用PZT双压电薄膜驱动器.介绍了微机器人的结构及运动机理.着重介绍了驱动电压幅值对此类微机器人运动的影响

通过建模、仿真以及有限元分析

得到随着驱动电压幅值的增加

驱动器振幅增加

微机器人速度增加的结论

并通过实验验证了此结论

此结论对提高此类微机器人的工作效率有重要意义.

Abstract

A micro robot carrying a CCD camera for inspecting the inner wall of a small pipe has been developed. Its actuator is composed of a PZT bimorph driver and two pairs of brass elastic supporting legs. The structure and the moving principle of the robot are studied

and the influence of the voltage is analyzed in particular. According to the simulation and FE analysis

it is concluded that with the increase of the voltage

the amplitude of the actuator will increase as well as the speed of the robot. Experiments have been carried out to prove the conclusion

which is important in improving the inspection efficiency of the micro robot.

关键词

Keywords

references

Toshiaki Y. Screw principle micro robot passing steps in a small pipe[A]. Proceedings of the 1999 International Symposium on Micromechatronics and Human Science[C]. Japan:1999.149-152.

Sun L, Sun P, Qin X J.Study on micro robot in small pipe[A]. International Conference on Control'98[C]. 1998.1212-1217.

Anthierens C. Design of an electro pneumatic micro robot for in-pipe inspection[A]. ICRAM'99[C]. 1999. 125-130.

Takaharu Idogaki. Characteristics of piezoelectric locomotive mechanism for an in-pipe micro inspection machine[A].Proceedings of the Sixth International Symposium on Micro Machine and Human Science[C].Japan, 1995.193-198.

Toshiyuki Matsuoka. Improvement of micro mobile machine with piezoelectric driving force actuator[A]. Proceedings of the Sixth International Symposium on Micro Machine and Human Science[C]. Japan,1995.211-217.

叶至碧.压电陶瓷驱动器[J].电子元件与材料,1989,18(4):1-6.

罗怡.双压电薄膜微机器人的功耗及速度的影响因素[J].机电一体化,2000,6(4):35-39.

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Related Institution

Space Department III， Changchun Institution of Optics，Fine Mechanics and Physics， Chinese Academy of Sciences

School of Computer & Communication Engineering， University of Science and Technology Beijing

School of Mechanical Engineering, Yan Shan University

Heavy-duty Intelligent Manufacturing Equipment Innovation Center of Hebei Province

Heilongjiang Agricultural Economy Vocational College

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