| 驱动电压幅值对双压电薄膜管道微机器人运动的影响 |
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| 引用本文： | 罗怡,李朝东,龚振邦,孙麟治,汪勤悫,孙萍. 驱动电压幅值对双压电薄膜管道微机器人运动的影响[J]. 光学精密工程, 2002, 10(1): 56-60 |
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| 作者姓名： | 罗怡 李朝东 龚振邦 孙麟治 汪勤悫 孙萍 |
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| 作者单位： | 上海大学,机电工程与自动化学院,上海,200072 |
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| 基金项目： | 国家自然科学基金资助项目 (No .6 98895 0 1) |
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| 摘 要： | 研究了一种细小管道内移动微机器人,它可以搭载摄像机进入φ20mm的管道内部进行检测作业.微机器人驱动器采用PZT双压电薄膜驱动器.介绍了微机器人的结构及运动机理.着重介绍了驱动电压幅值对此类微机器人运动的影响,通过建模、仿真以及有限元分析,得到随着驱动电压幅值的增加,驱动器振幅增加,微机器人速度增加的结论,并通过实验验证了此结论,此结论对提高此类微机器人的工作效率有重要意义.
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| 关 键 词： | 管道微机器人 压电驱动器 仿真 速度 驱动电压 |
| 文章编号： | 1004-924X(2002)01-0056-05 |
| 收稿时间： | 2001-06-22 |
| 修稿时间： | 2001-06-22 |
Effect of the voltage amplitude on moving performance of PZT in-pipe bimorph micro robot |
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| LUO Yi,LI Chao_dong,GONG Zhen_bang,SUN Lin_zhi,WANG Qin_que,SUN Ping. Effect of the voltage amplitude on moving performance of PZT in-pipe bimorph micro robot[J]. Optics and Precision Engineering, 2002, 10(1): 56-60 |
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| Authors: | LUO Yi LI Chao_dong GONG Zhen_bang SUN Lin_zhi WANG Qin_que SUN Ping |
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| Affiliation: | School of Mechatronics and Automation, Shanghai University, Shanghai, 200072, China |
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| Abstract: | A micro robot carrying a CCD camera for inspecting the inner wall of a small pipe has been developed. Its actuator is composed of a PZT bimorph driver and two pairs of brass elastic supporting legs. The structure and the moving principle of the robot are studied, and the influence of the voltage is analyzed in particular. According to the simulation and FE analysis, it is concluded that with the increase of the voltage, the amplitude of the actuator will increase as well as the speed of the robot. Experiments have been carried out to prove the conclusion, which is important in improving the inspection efficiency of the micro robot. |
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| Keywords: | in_pipe micro robots piezoelectric actuators simulation speed driving voltage |
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