Piezoelectric inertial robot for operating in small pipelines based on stick-slip mechanism:modeling and experiment

作     者：Jichun XING Chao NING Yingxiang LIU Ian HOWARD Jichun XING;Chao NING;Yingxiang LIU;Ian HOWARD

作者机构：School of Mechanical EngineeringYanshan UniversityQinhuangdao066004China State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China School of Civil and Mechanical EngineeringCurtin UniversityPerth6001Australia 

出 版 物：《Frontiers of Mechanical Engineering》 (机械工程前沿（英文版）)

年 卷 期：2022年第17卷第3期

页      面：109-124页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：This work was supported by the State Key Laboratory of Robotics and System(HIT) China(Grant No.SKLRS-2022-KF-09).The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper 

主　　题：pipeline robot piezoelectric inertial drive stick-slip large load capacity dynamics model small pipeline 

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-slipmechanism was proposed to address this *** 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 *** experimental system was established to examine the output characteristics of the proposed *** 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 *** 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 4µ*** potential application for fine operation in the pipe is exhibited by a demonstration of contactless transport.