细小管道机器人爬行驱动装置

作者：张雁雁，陈晓明，章碧野，张 慧 日期：2007-04-30/span> 浏览：3640 查看PDF文档

                          细小管道机器人爬行驱动装置
                          张雁雁，陈晓明，章碧野，张 慧
                       浙江大学 机械工程系，浙江 杭州 310027)〖HT〗

摘 要：采用形状记忆合金弹簧作为驱动源，设计了一种能应用于内径30 mm以内非磁性金属管道中移动的微型管道机器人爬行驱动装置，该装置为微细管道机器人的爬行驱动装置提供了一种新的设计思路。该装置具有可避障、可控制其步长、机构较灵活的特点。
关键词：微型管道；机器人；爬行驱动装置；形状记忆合金

                        Drive unit for robots moving in tiny pipeline
             ZHANG Yanyan, CHEN Xiaoming, ZHANG Biye, ZHANG Hui
(Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China)

Abstract: A kind of drive unit for robots moving in 30 mm pipelines made of nonmagnetic metals was designed. The shape memory alloy spring was used as drive resource in the device, which could avoids obstacles as well as control its step distance with the agile machine, and presents a new kind design idear of drive unit for robots moving in micropipelines.
Key words: tiny pipelines; robot; drive unit for moving; shape memory alloy
参考文献：
［1］IDOGAKI T, KANAYAMA H, OHYA N, et aI. Characteristics of piezoelectric locomotion mechanism for an inpipe micro inspection machine［C］. Proceedings of 6th International Symposium on Micro Machine and Human Sciences,1995：193-198.
［2］TAKAHSHI M, HAYASHI I. The development of an inpipe microrobot applying the motion of an earthworm［J］. Journal of Precision Engineering,1995,61(1):91-94.
［3］GOTO H. Development of a scanning type miniature twodimensional image sensor［J］. Journal of Precision Engineering,1997,63(2):218-222.
［4］HAMASAKI Y. A multilayer eddy current micro sensor for nondestructive inspection of small diameter［J］. Journal of Precision Engineering,1996,62(3):359-362.
［5］SUZUMORI K, MIYAGAWA T, KIMURA M, et al. Micro inspection robot for inpipes［J］. IEEE/ASME Transactions on Mechatronics, 1999,4(3):286-292.
［6］濮良贵，纪名刚.机械设计:第七版［M］.北京：高等教育出版社，2001.