典型文献
Piezoelectric inertial robot for operating in small pipelines based on stick-slip mechanism:modeling and experiment
文献摘要：
Small pipes exist in industrial and biomedical fields,and require microrobots with high operational precision and large load capacity to inspect or perform functional tasks.A piezoelectric inertial pipeline robot using a"stick-slip"mechanism was proposed to address this requirement.In this study,the driving principle of the proposed robot was analyzed,and the strategy of the design scheme was presented.A dynamics model of the stick-slip system was established by combining the dynamics model of the driving foot system and the LuGre friction model,and the simulation analysis of the effect of system parameters on the operating trajectory was performed.An experimental system was established to examine the output characteristics of the proposed robot.Experimental results show that the proposed pipeline robot with inertial stick-slip mechanism has a great load capacity of carrying 4.6 times(70 g)its own mass and high positioning accuracy.The speed of the pipeline robot can reach up to 3.5 mm/s(3 mm/s)in the forward(backward)direction,with a minimum step distance of 4 pm.Its potential application for fine operation in the pipe is exhibited by a demonstration of contactless transport.
文献关键词：
中图分类号：
作者姓名：
Jichun XING;Chao NING;Yingxiang LIU;Ian HOWARD
作者机构：
School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China;State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China;School of Civil and Mechanical Engineering,Curtin University,Perth 6001,Australia
文献出处：
引用格式：
[1]Jichun XING;Chao NING;Yingxiang LIU;Ian HOWARD-.Piezoelectric inertial robot for operating in small pipelines based on stick-slip mechanism:modeling and experiment)[J].机械工程前沿,2022(03):106-121
A类：
microrobots
B类：
Piezoelectric,inertial,operating,small,pipelines,stick,slip,mechanism,modeling,Small,pipes,exist,industrial,biomedical,fields,high,operational,precision,large,load,capacity,inspect,functional,tasks,piezoelectric,using,was,proposed,address,this,requirement,In,study,driving,principle,analyzed,strategy,design,scheme,presented,dynamics,system,established,by,combining,foot,LuGre,friction,simulation,analysis,effect,parameters,trajectory,performed,An,experimental,examine,output,characteristics,Experimental,results,show,that,has,great,carrying,times,its,own,mass,positioning,accuracy,speed,can,reach,up,forward,backward,direction,minimum,step,distance,pm,Its,potential,application,fine,exhibited,demonstration,contactless,transport
AB值：
0.545555
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