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Abstract: One micro in-pipe robot with giant magnetostrictive alloy
actuator is developed, and a new method, without power supply cable, to
drive and control the micro robot through magnetic field outside pipe is
put forward. Thereby, its reliability and feasibility is improved. The
control principal is that the micro robot moves forward with its legs
vabrated by converting magnetic energy into mechanical one under the
action of piezomagnetism and magnetomechanical couple of its micro
actuator while time varied oscillating magnetic field with different
frequency applied through outside pipe. Its systematical structure and
operation principle are introduced. Based on vibration theory, its
equations of moving speed and traction force are described by deep
analysis on its moving dynamic characteristics. Robot systematical
experiments to verify its feasibility are conducted. As a result, wireless
drive and control method on micro robot through outside magnetic field
is realized.
Key words: Micro robot Giant magnetostriction Dynamic characteristics
CLC No: TP242.2
辽宁省科学技术基金博士起动基金(20021061)和国家自然科学基金(60275034)资助项目. Received 20020204,
received in revised form 20020925
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