摘要
设计了一种基于槽钹形压电复合驱动的仿尺蠖爬行式微型管道机器人.该机器人包括两个Φ8mm槽钹形压电复合驱动器和一个爬行定位系统,能够在Φ10mm的曲线形管道中自主定位爬行.槽钹形压电复合驱动器驱动能力为自重的4倍,最大爬行速度为41mm/s,爬行定位系统提供了机器人爬行步距的测量,通过实验验证整个爬行系统的定位误差仅为4‰.
A kind of inchworm-like in-pipe micro-robot actuated by piezoelectric cymbal actuators is presented. It can crawl into Ф10mm-curved pipes with high positioning accuracy. The inchworm micro-robot consists of two Ф8mm piezoelectric cymbal actuators and a global positioning mechanism. The piezoelectric cymbal actuators can load as 4 times as their own weight and their speeds are up to 41 mm/s. The global positioning mechanism implements step measurement and switching action of actuators. Through analysis of experiment data, relative positioning error of the whole robot system was shown only 4‰.
出处
《高技术通讯》
CAS
CSCD
北大核心
2005年第11期35-38,共4页
Chinese High Technology Letters
基金
新材料领域项目
关键词
管道机器人
压电
惯性驱动
尺蠖式
定位
in-pipe micro-robot, piezoelectric cymbal, inertial driving, inchworm, positioning
