Design and experiment of a micro in-pipe robot based on the resonance

被引：0

作者：

Liu, Lei ^{[1
]}

Li, Juan ^{[1
]}

Li, Weida ^{[1
]}

Qin, Jia ^{[1
]}

机构：

[1] School of Mechanical and Electric Engineering, Soochow University, Suzhou

来源：

Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2014年 / 35卷 / 08期

关键词：

Nonlinear vibration; Pipeline robot; Resonant drive; Structure design;

D O I：

10.3969/j.issn.1006-7043.201305066

中图分类号：

学科分类号：

摘要：

A micro robot is described in this paper that will conduct its work in a thin pipe with a small diameter in the range of 18 mm to 30 mm which is hard to detect. The robot is based on the resonant driving principle, which simplifies the transmission mechanism. Using an excitation source-the eccentric wheel is driven by a micro engine. A mathematical model of the robot in the pipe wall constraints was established to solve the angular acceleration caused by the collision between the robot's feet which are flexible enough with the pipeline wall, and the position of the contact points. The movement mechanism of the robot was also analyzed. The robot prototype was designed and a pipeline test environment was built to carry out the speed and traction testing. The minimum size of the prototype is 15 mm × 15 mm × 22 mm. The results show that: under 8 V voltage, the maximum speed of the prototype is up to 68.29 mm/s, the power consumption is about 0.15 W, and the maximum ramp angle is 30°.

引用

页码：1002 / 1007

页数：5

共 11 条

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