【作者】 罗怡； 龚振邦； 孙麟治； 汪勤悫；

【Author】 Luo Yi Gong Zhenbang Sun Linzhi Wang Qinque (Dept. Precision Mech. Eng. ,Shanghai University, Shanghai 200072)

【机构】 上海大学精密机械系；

【摘要】 本文研究了一种细小管道内移动微机器人。它采用PZT双压电薄膜驱动器,利用惯性冲击原理产生运动,可以搭载CCD摄象机或其它检测装置进入Φ20mm的工业管道内部实施作业。文中描述了此种微机器人的结构,对其运动进行了力分析。以此理论为基础制作了微机器人实验样机,其最大运动速度可达18mm/S。更多还原

【Abstract】 An in-pipe micro robot has been proposed in this paper. Its actuator is made by PZT bimorph and the moving principle is inertia impact. With CCD camera, the micro robot can move into pipe to inspect the inner wall of the pipe. The structure of the robot had been described and force analysis has been done. According to these analyses, the prototype of micro robot had been done, the maximum speed is 18mm/s.更多还原