DocumentCode
1884071
Title
Study on robots with PZT actuator for small pipe
Author
Sun, Linzhi ; Zhang, Yanan ; Sun, Ping ; Gong, Zhenbang
Author_Institution
Inst. of Precision Machinery, Shanghai Univ., China
fYear
2001
fDate
2001
Firstpage
149
Lastpage
154
Abstract
This paper presents two kinds of experimental microrobot with PZT actuator for small pipe. The first one is with stacked PZT actuator for climbing φ 10 mm pipe; this robot can carry a microgripper. The other one is with bimorph PZT actuator for climbing φ 20 mm pipe; it can carry a CCD camera for detecting cracks or fine holes on inner wall of pipe. These two kinds of robots can move in vertical pipe up/down at speed of 4-6 mm, 17-22 mm/s, respectively. Moving principle, structure design and performance characteristics were presented in the paper
Keywords
CCD image sensors; microrobots; mobile robots; piezoelectric actuators; 0.004 to 0.006 m/s; 10 mm; 17 to 22 mm/s; 20 mm; CCD camera; bimorph PZT actuator; crack detection; hole detection; microgripper; microrobot; robots; small pipe; Cameras; Ceramics; Charge coupled devices; Charge-coupled image sensors; Mobile robots; Piezoelectric actuators; Piezoelectric polarization; Robot vision systems; Service robots; Sun;
fLanguage
English
Publisher
ieee
Conference_Titel
Micromechatronics and Human Science, 2001. MHS 2001. Proceedings of 2001 International Symposium on
Conference_Location
Nagoya
Print_ISBN
0-7803-7190-9
Type
conf
DOI
10.1109/MHS.2001.965237
Filename
965237
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