摘要
提出一种基于惯性驱动的微型管道机器人钹形压电复合驱动器,为解决由提高抗疲劳破坏而采用较厚金属膜片所带来的性能影响问题,对钹形压电复合片的金属片进行了有限元分析并提出径向刻槽的结构优化,使其环向应力得以释放,从而大大提高了机器人驱动器的变形特性及能量转化率,使机器人的运行速度提高56%,具有较高的速度特性及负载能力。
A kind of piezoelectric cymbal actuators tor in-pipe micro-robots were presented, which could move in pipe with 10mm diameters based on the inertia-driving principle. In order to resolve the problem of bending fatigue causing breaks in cymbal end caps and to improve properties further, structural optimization of the piezoelectric cymbal actuators was performed. Through theoretical analysis in collaboration with experiments, the structural optimization of slotting in the cymbal end caps released the tangential stresses and improved moving properties. Under the same working conditions, the speed Of the optimized robot can be 56% higher than that of the original one.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2005年第18期1610-1612,1621,共4页
China Mechanical Engineering
基金
国家863高技术研究发展计划资助项目(2001AA423130)
关键词
管道机器人
压电驱动器
钹形
有限元
优化
in-pipe micro-robot
piezoelectric actuator
cymbal
FEA
optimization
