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研究了一种细小管道内移动微机器人 ,它可以搭载摄像机进入 φ2 0mm的管道内部进行检测作业。微机器人驱动器采用PZT双压电薄膜驱动器。介绍了微机器人的结构及运动机理。着重介绍了驱动电压幅值对此类微机器人运动的影响 ,通过建模、仿真以及有限元分析 ,得到随着驱动电压幅值的增加 ,驱动器振幅增加 ,微机器人速度增加的结论 ,并通过实验验证了此结论 ,此结论对提高此类微机器人的工作效率有重要意义。
A micro-robot moving inside a small pipe is studied. It can carry a camera into a pipe with a diameter of φ20 mm for testing. Micro Robot Driver PZT dual piezoelectric film drive. The structure and movement mechanism of micro-robot are introduced. The influence of driving voltage amplitude on the motion of such micro-robot is emphatically introduced. Through the modeling, simulation and finite element analysis, the conclusion that the amplitude of micro-robot increases with the increase of driving voltage amplitude is obtained. This conclusion is validated. This conclusion is of great significance to improve the work efficiency of such micro-robot.