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
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;
Conference_Titel :
Micromechatronics and Human Science, 2001. MHS 2001. Proceedings of 2001 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-7190-9
DOI :
10.1109/MHS.2001.965237
