An in-pipe micro robot actuated by piezoelectric bimorphs  

作　　者：LIU PinKuan WEN ZhiJie SUN LiNing 

机构地区：[1]State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China [2]Robotics Institute, Harbin Institute of Technology, Harbin 150001, China

出　　处：《Chinese Science Bulletin》2009年第12期2134-2142,共9页

基　　金：Supported by the National Natural Science Foundation of China(Grant No50675132);National High Technology Research and Development Program of China(863Program)(Grant No.2006AA4Z334);Science&Technology Commissionof Shanghai Municipality(Grant Nos.07PJ14051and071111008)

摘　　要：A novel in-pipe micro robot providing stable and accurate locomotion inside a tubular structure with diameters ranging from 16 mm to 18 mm is presented in this paper. Driven by impulsive voltages, deflections of the piezoelectric bimorphs are generated and then converted into translational locomotion by the principle of the Impact Drive Mechanism (IDM). Theoretical analysis of the proposed system is performed based on a simplified mechanical model. Then dynamic simulations of the dynamic behavior are performed. Finally, an experiment is conducted to investigate the moving ability of this device. The results demonstrate that a maximum translational velocity of 3.5 mm/s can be obtained under an impulsive driving voltage with peak value at 50 V and frequency of 1100 Hz. Both theoretical analysis and experimental trials prove that the principle of IDM actuated by piezoelectric bimorphs is feasible and robust for achieving accurate locomotion of the micro robot in pipes with diameters of less than 20 mm.A novel in-pipe micro robot providing stable and accurate locomotion inside a tubular structure with diameters ranging from 16 mm to 18 mm is presented in this paper. Driven by impulsive voltages, deflections of the piezoelectric bimorphs are generated and then converted into translational locomotion by the principle of the Impact Drive Mechanism （IDM）. Theoretical analysis of the proposed system is performed based on a simplified mechanical model. Then dynamic simulations of the dynamic behavior are performed. Finally, an experiment is conducted to investigate the moving ability of this device. The results demonstrate that a maximum translational velocity of 3.5 mm/s can be obtained under an im- pulsive driving voltage with peak value at 50 V and frequency of 1100 Hz. Both theoretical analysis and experimental trials prove that the principle of IDM actuated by piezoelectric bimorphs is feasible and robust for achieving accurate locomotion of the micro robot in pipes with diameters of less than 20 mm.

关 键 词：管道微机器人 压电双晶片 驱动机构 调制解调器 平移运动 实验测试 管道直径 管状结构 

分 类 号：TN304.9[电子电信—物理电子学] TP242[自动化与计算机技术—检测技术与自动化装置]