For the smaller thrust,it is difficult to achieve 3Dtrans-scale precision positioning based on previous stick-slip driving.A large thrust trans-scale precision positioning stage is studied based on the inertial stick-...For the smaller thrust,it is difficult to achieve 3Dtrans-scale precision positioning based on previous stick-slip driving.A large thrust trans-scale precision positioning stage is studied based on the inertial stick-slip driving.The process of the movement is divided into two steps,i.e.,the″sliding″phase and the″stickness″phase.In the whole process,the kinematics model of the inertial stick-slip driving is established,and it reveals some factors affecting the velocity of inertial stick-slip driving.Furthermore,a simulation of movement is preformed by Matlab-Simulink software,and the whole process of the inertial stick-slip driving is displayed.After one experimental prototype is designed,the back and forth velocity is tested.Finally,the simulation verifies the accuracy of the kinematics model.展开更多
Small pipes exist in industrial and biomedical fields,and require microrobots with high operational precision and large load capacity to inspect or perform functional tasks.A piezoelectric inertial pipeline robot usin...Small pipes exist in industrial and biomedical fields,and require microrobots with high operational precision and large load capacity to inspect or perform functional tasks.A piezoelectric inertial pipeline robot using a“stick-slip”mechanism was proposed to address this requirement.In this study,the driving principle of the proposed robot was analyzed,and the strategy of the design scheme was presented.A dynamics model of the stick-slip system was established by combining the dynamics model of the driving foot system and the LuGre friction model,and the simulation analysis of the effect of system parameters on the operating trajectory was performed.An experimental system was established to examine the output characteristics of the proposed robot.Experimental results show that the proposed pipeline robot with inertial stick-slip mechanism has a great load capacity of carrying 4.6 times(70 g)its own mass and high positioning accuracy.The speed of the pipeline robot can reach up to 3.5 mm/s(3 mm/s)in the forward(backward)direction,with a minimum step distance of 4µm.Its potential application for fine operation in the pipe is exhibited by a demonstration of contactless transport.展开更多
基金supported by the National Natural Science Foundation of China(No.51175358)the Natural Science Foundation of Jiangsu Province (No.BK20140345)+2 种基金Colleges and Universities Natural Science Foundation of Jiangsu Province (No.14KJB460025)the National Science Foundation for Post-Doctoral Scientists of China (No.2014M551651)the Natural Science Foundation of Jiangsu Province for Post-Doctoral Scientists (No. 1401073C)
文摘For the smaller thrust,it is difficult to achieve 3Dtrans-scale precision positioning based on previous stick-slip driving.A large thrust trans-scale precision positioning stage is studied based on the inertial stick-slip driving.The process of the movement is divided into two steps,i.e.,the″sliding″phase and the″stickness″phase.In the whole process,the kinematics model of the inertial stick-slip driving is established,and it reveals some factors affecting the velocity of inertial stick-slip driving.Furthermore,a simulation of movement is preformed by Matlab-Simulink software,and the whole process of the inertial stick-slip driving is displayed.After one experimental prototype is designed,the back and forth velocity is tested.Finally,the simulation verifies the accuracy of the kinematics model.
基金This work was supported by the State Key Laboratory of Robotics and System(HIT),China(Grant No.SKLRS-2022-KF-09).The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.
文摘Small pipes exist in industrial and biomedical fields,and require microrobots with high operational precision and large load capacity to inspect or perform functional tasks.A piezoelectric inertial pipeline robot using a“stick-slip”mechanism was proposed to address this requirement.In this study,the driving principle of the proposed robot was analyzed,and the strategy of the design scheme was presented.A dynamics model of the stick-slip system was established by combining the dynamics model of the driving foot system and the LuGre friction model,and the simulation analysis of the effect of system parameters on the operating trajectory was performed.An experimental system was established to examine the output characteristics of the proposed robot.Experimental results show that the proposed pipeline robot with inertial stick-slip mechanism has a great load capacity of carrying 4.6 times(70 g)its own mass and high positioning accuracy.The speed of the pipeline robot can reach up to 3.5 mm/s(3 mm/s)in the forward(backward)direction,with a minimum step distance of 4µm.Its potential application for fine operation in the pipe is exhibited by a demonstration of contactless transport.
