Pipe Inspection Robot with Spherical Ultrasonic Motor

被引：0

作者：

Toyama, Shigeki ^{[1
]}

Mashimo, Tomoaki ^{[2
]}

Hoshina, Masahiko ^{[1
]}

机构：

[1] Tokyo Univ Agr & Technol, Tokyo, Japan

[2] Carnegie Mellon Univ, Pittsburgh, PA 15213 USA

来源：

ACTUATOR 10, CONFERENCE PROCEEDINGS | 2010年

关键词：

piezoelectric actuator; pipe inspection robot; multi-DOF;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

We present a pipe inspection robot using a newly developed spherical ultrasonic motor (SUM) as a camera actuator. The novel SUM has improved the range of movement compared to previous SUMs, and the robot can point a camera in any direction. In this study, we determined a method for controlling the rotational direction and strategic control from the kinematics and characteristics of ultrasonic motors. The rotational directions were defined by the phase differences of the applied voltages, and the rotational speed was changed with the frequencies. Additionally, we developed a very small position sensing system using rotary potentiometers. In the control experiment performed using the sensing system, the SUM showed the returnability to the default position from several specified points, within an accuracy of 1 degrees.

引用

页码：190 / +

页数：2

共 4 条

[1]

ANTHIERENS C, 1999, P IEEE INT S IND EL, V2, P968

[2]

Brunete A, 2005, IEEE INT CONF ROBOT, P490

[3]

Choi CH, 2004, IEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics, P889

[4] RUBBER GAS ACTUATOR DRIVEN BY HYDROGEN STORAGE ALLOY FOR IN-PIPE INSPECTION MOBILE ROBOT WITH FLEXIBLE STRUCTURE [J].

FUKUDA, T ;

HOSOKAI, H ;

UEMURA, M .

PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, :1847-1852

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