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A Piezoelectric In-Pipe Micro Robot with Impact-Drive Actuation

机译:具有冲击驱动的压电式管道内微型机器人

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摘要

A piezoelectric in-pipe micro robot with bimoph structure and and actuated by the Impact Drive Mechanism(IDM) theory is presented in this paper.Two piezoelectric bimorph and an inertia mass connected in series compose the basic structure of this actuato.While operating,the deflection of the two piezoelectric bimorph sheets is translated into linear movement by the IDM,thus completing the actuation of the system.As the essence of the IDM theory,the relationship between the inertia impact force generated by the deflection of the bimoph sheets and the friction between the moving body and the inwall of the pipe is analyzed theoretically.And then the dynamic performance of the system is simulated both by MATLAB and ANSYS.The results verified proves that the proposed actuator is an accurate and efficient solution for medical and industrial applications.
机译:本文提出了一种具有Bimoph结构的压电管道微型机器人,该机器人由冲击驱动机制(IDM)理论驱动。两个压电双压电晶片和一个惯性质量串联构成了该促动器的基本结构。 IDM将两个压电双压电晶片的挠曲转换为线性运动,从而完成系统的驱动。作为IDM理论的本质,由Bimoph挠曲产生的惯性冲击力与摩擦之间的关系从理论上分析了管道运动物体与管道内壁之间的关系,然后利用MATLAB和ANSYS对系统的动态性能进行了仿真,结果验证了所提出的执行器是一种准确,高效的医疗和工业应用解决方案。

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