【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 φ2 0mm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。更多还原

【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.更多还原