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首页> 外文会议>International Conference on Mechanical Engineering and Mechanics vol.1; 20051026-28; Nanjing(CN) >Inchworm-Like In-Pipe Micro-Robot Actuated by Piezoelectric Cymbals
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Inchworm-Like In-Pipe Micro-Robot Actuated by Piezoelectric Cymbals

机译：压电Cy驱动类似蠕虫的管道内微型机器人

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摘要

A kind of inchworm-like in-pipe micro-robot actuated by piezoelectric cymbal actuators was presented in this paper. It could crawl into 10mm diameters curved pipe with high positioning accuracy. The inchworm micro-robot consisted of two Φ8mm piezoelectric cymbal actuators and a global positioning mechanism. The piezoelectric cymbal actuators provided moving power for the system alternately, and the actuator could load as 4 times as its own weight and its speed was up to 41mm/s. The analysis of technical capabilities of the actuators, such as frequency response, power consumption, and the friction between the cramp and surface of pipe, had been performed. The global positioning mechanism implemented step measurement and moving control of the actuators. Through analysis of experiment data, relative positioning error of the whole robot system was shown only 4per thousand. The robot system had been demonstrated to use for non-destructive detection and 3D geometrical reconstruction for the micro-pipe.
机译：提出了一种由压电c致动器致动的类蠕虫状管道微型机器人。它可以爬进直径10mm的弯曲管中，定位精度高。 inch蠕虫微型机器人由两个Φ8mm压电c致动器和一个全局定位机构组成。压电ym致动器交替为系统提供动力，致动器的负载是其自重的4倍，速度高达41mm / s。已经对执行器的技术能力进行了分析，例如频率响应，功耗以及抽筋和管道表面之间的摩擦。全球定位机制实现了执行器的步距测量和运动控制。通过实验数据分析，整个机器人系统的相对定位误差仅为千分之四。机器人系统已被证明可用于微管的无损检测和3D几何重建。

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