| 压电驱动微小型管道机器人的研制 |
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| 引用本文： | 尹德芹,颜国正,颜德田,丁国清,林良明. 压电驱动微小型管道机器人的研制[J]. 仪器仪表学报, 2000, 21(3): 221-224 |
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| 作者姓名： | 尹德芹 颜国正 颜德田 丁国清 林良明 |
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| 作者单位： | 上海交通大学信息检测技术及仪器系,上海,200030 |
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| 摘 要： | 根据动力学原理 ,利用逆压电效应研制成功微小型管道机器人样机 ,分析了机器人的驱动原理 ,并据此研制了控制与驱动电路 ,给出了实验结果。样机质量为 4 .5g,外形尺寸为 10× 10× 16mm,可在玻璃管道内上下运动 ,向上运动速度可达2 .3 mm /s,向下运动速度可达 3 .3 mm/s,有望用于微细管道的检测与作业
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| 关 键 词： | 微机器人 管道机器人 逆压电效应 |
Research on Miniature In-pipe Robot Driven by Piezoelectric Force |
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| Yin Deqin,Yan Guozheng,Yan Detian,Ding Guoqing,Lin Liangming. Research on Miniature In-pipe Robot Driven by Piezoelectric Force[J]. Chinese Journal of Scientific Instrument, 2000, 21(3): 221-224 |
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| Authors: | Yin Deqin Yan Guozheng Yan Detian Ding Guoqing Lin Liangming |
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| Affiliation: | Dept.of Infor.Detection Tech. and Ins. Shanghai Jiaotong Univ. Shanghai 200030 P.R.C. |
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| Abstract: | According to dynamics principles, the prototype of miniature in-pipe robot has been developed making use of converse piezoelectric effect. The article analyzes its driving mechanism,and the control and drive circuits. In addition, experiment results are given and analyzed. The prototype, which has a mass of 4.5g, and a size of 10×10×16mm, can move in a glass pipe both upward and downward. The velocity upward can be up to 2.3mm/s,and the velocity downward can be up to 3.3mm/s. The robot is promising to be used in the fields of detection and operation inside small pipes. |
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| Keywords: | Micro robot In pipe robot Converse piezoelectric effect |
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