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压电双层膜驱动管内移动微小型机器人的研究 被引量：4

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摘要 提出了一种新型管内移动微小型机器人,采用压电双层膜驱动器和惯性冲击式原理（IDM）,实现在直径为φ16~18mm的直管内的稳定运动.对惯性冲击原理进行了理论分析和动态仿真,通过实验,验证了微小型机器人的运动原理和运动能力实验结果表明,在峰值为50V和频率为1100Hz的锯齿波电压驱动下,该微小型机器人的直线运动速率可以达到3.5mm/s.理论分析与实验结果验证了惯性冲击原理在本设计中的可行性和有效性,并为管内移动微小型机器人的优化设计提供了理论依据.
作者 刘品宽 温志杰 孙立宁
机构地区 上海交通大学机械与动力工程学院 哈尔滨工业大学机器人研究所
出处 《科学通报》 EI CAS CSCD 北大核心 2009年第15期2257-2263,共7页 Chinese Science Bulletin
基金 国家自然科学基金(批准号:50675132) 国家高科技研究发展计划(编号:2006AA4Z334) 上海科技委员会(编号:07PJ14051 071111008)资助项目
关键词 压电双层膜 管内移动微小型机器人 惯性冲击原理
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置] O484.1 [理学—固体物理]
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参考文献19

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同被引文献42

  • 1张东华,陈维山,刘军芳,陈在礼.微机电系统用压电驱动器的发展及应用[J].仪器仪表学报,2006,27(z1):1023-1025. 被引量：6
  • 2杨凯,张德林,辜承林.压电驱动器研究与应用中的若干新进展[J].微电机,2007,40(6):83-87. 被引量：13
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  • 5WANG Wei-song,SVETLANA T L,WALTER L B,et al.Design of a bidirectional MEMS actuator with high displacement resolution,large driv-ing force and power-free latching[J].Microelectronic Engineering,2008,85(3):587-598.
  • 6GAO Wei,SATO S,ARAI Y.A linear-rotary stage for precision positioning[J].Precision Engineering,2010,34(2):301-306.
  • 7MOHD N M Z,SHIRINZADEH B,TIAN Y L.A new design of piezoelectric driven compliant-based microgripper for micromanipulation[J].Mechanism and Machine Theory,2009,44(12):2248-2264.
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科学通报
2009年 第15期

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