Micro In-pipe Robot Mechanical Structure Design of Shape Memory Alloy Driving

被引：0

作者：

Zhao Yu-xia ^{[1
]}

He Guang-ping ^{[1
]}

Gao De-wen ^{[1
]}

机构：

[1] N China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China

来源：

2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4 | 2009年

关键词：

Tiny pipelines; Shape Memory Alloy; Robot; VEHICLE;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The paper presents a new driving mechanism made of SMA (Shape Memory Alloy), with which the robot is designed with advantages of light weight, compact structure, less joints, easily machined, etc. The robot is driven by energy which transformed by compression spring using SMA actuator when heating or cooling, and which is composed of SMA spring, friction spring strips and Maxon serve DC electromotor. Such robot can pass through variable diameters pipelines from 50-80 mm as well as U and T type pipe that curvature is 1.2 times bigger than pipe diameter, and the effectiveness is verified by experiment in an actual pipeline.

引用

页码：360 / 365

页数：6

共 12 条

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